Robotically steering flexible needles

Research output: ThesisPhD Thesis - Research UT, graduation UT

71 Downloads (Pure)

Abstract

Needle insertion into soft tissue is one of the common minimally invasive surgical procedures. Many diagnostic and therapeutic clinical procedures require insertion of a needle to a specific location in soft-tissue, including biopsy or radioactive seed implantation for cancer treatment (brachytherapy). In this thesis, we start with modeling the effect of skin thickness on target motion during insertion. A closed-loop control algorithm is then developed for flexible needle steering using camera and ultrasound images for feedback. An ultrasound-based 3D needle tracking algorithm is then combined with real-time path planning for needle steering. The needle is steered during insertion in gelatin-based and biological soft-tissue phantoms. A non-imaging approach (fiber Bragg grating (FBG) sensors) is also used for real-time needle shape reconstruction and tip tracking. FBG sensors are used as feedback to the control algorithm to steer the needle towards a target in 3D space. We then focus on physical target localization and 3D shape reconstruction for needle steering in phantoms with curved surfaces. A clinical application (needle insertion in the prostate) is also investigated where the needle is steered in a multi-layer phantom with different tissue elasticities. In order to bring the proposed algorithms to clinical environments, we consider practical issues such as including the clinician in the control loop to merge robot accuracy with clinical expertise. The proposed system is adapted to enable clinicians to directly control the insertion procedure while receiving navigation cues from the control algorithm. Navigation cues are provided through a combination of haptic (vibratory) and visual feedback to the operator who controls the needle for steering. The proposed system is further adapted by using a clinically-approved Automated Breast Volume Scanner (ABVS) which is experimentally evaluated to be used for needle insertion procedures. The ultrasound-based ABVS system is used for pre-operative scanning of soft-tissue for target localization, shape reconstruction, and also intra-operatively for needle tip tracking during the steering process. The achieved targeting errors suggest that our approach is convenient for targeting lesions that can be detected using clinical ultrasound imaging systems. These promising results allow us to proceed further in bringing our system towards clinical practice.
Original languageEnglish
Awarding Institution
  • University of Twente
Supervisors/Advisors
  • Misra, Sarthak , Supervisor
Award date26 Aug 2015
Place of PublicationEnschede
Publisher
Print ISBNs978-90-365-3941-8
DOIs
Publication statusPublished - 26 Aug 2015

Fingerprint

Needles
Tissue
Ultrasonics
Fiber Bragg gratings
Feedback
Navigation
Oncology
Biopsy
Sensors
Motion planning
Imaging systems
Seed
Elasticity
Skin
Cameras
Robots
Scanning

Keywords

  • EWI-26989
  • METIS-311225
  • IR-96813

Cite this

Abayazid, Momen. / Robotically steering flexible needles. Enschede : University of Twente, 2015. 179 p.
@phdthesis{fd544cfd267b449ab86d2a7b6ad59656,
title = "Robotically steering flexible needles",
abstract = "Needle insertion into soft tissue is one of the common minimally invasive surgical procedures. Many diagnostic and therapeutic clinical procedures require insertion of a needle to a specific location in soft-tissue, including biopsy or radioactive seed implantation for cancer treatment (brachytherapy). In this thesis, we start with modeling the effect of skin thickness on target motion during insertion. A closed-loop control algorithm is then developed for flexible needle steering using camera and ultrasound images for feedback. An ultrasound-based 3D needle tracking algorithm is then combined with real-time path planning for needle steering. The needle is steered during insertion in gelatin-based and biological soft-tissue phantoms. A non-imaging approach (fiber Bragg grating (FBG) sensors) is also used for real-time needle shape reconstruction and tip tracking. FBG sensors are used as feedback to the control algorithm to steer the needle towards a target in 3D space. We then focus on physical target localization and 3D shape reconstruction for needle steering in phantoms with curved surfaces. A clinical application (needle insertion in the prostate) is also investigated where the needle is steered in a multi-layer phantom with different tissue elasticities. In order to bring the proposed algorithms to clinical environments, we consider practical issues such as including the clinician in the control loop to merge robot accuracy with clinical expertise. The proposed system is adapted to enable clinicians to directly control the insertion procedure while receiving navigation cues from the control algorithm. Navigation cues are provided through a combination of haptic (vibratory) and visual feedback to the operator who controls the needle for steering. The proposed system is further adapted by using a clinically-approved Automated Breast Volume Scanner (ABVS) which is experimentally evaluated to be used for needle insertion procedures. The ultrasound-based ABVS system is used for pre-operative scanning of soft-tissue for target localization, shape reconstruction, and also intra-operatively for needle tip tracking during the steering process. The achieved targeting errors suggest that our approach is convenient for targeting lesions that can be detected using clinical ultrasound imaging systems. These promising results allow us to proceed further in bringing our system towards clinical practice.",
keywords = "EWI-26989, METIS-311225, IR-96813",
author = "Momen Abayazid",
note = "PhD student moved from EWI-RAM to CTW-BE, and this thesis counts for about 95{\%} to EWI-RAM. This demands for registering here, and explains why it is done so late.",
year = "2015",
month = "8",
day = "26",
doi = "10.3990/1.9789036539418",
language = "English",
isbn = "978-90-365-3941-8",
publisher = "University of Twente",
address = "Netherlands",
school = "University of Twente",

}

Robotically steering flexible needles. / Abayazid, Momen.

Enschede : University of Twente, 2015. 179 p.

Research output: ThesisPhD Thesis - Research UT, graduation UT

TY - THES

T1 - Robotically steering flexible needles

AU - Abayazid, Momen

N1 - PhD student moved from EWI-RAM to CTW-BE, and this thesis counts for about 95% to EWI-RAM. This demands for registering here, and explains why it is done so late.

PY - 2015/8/26

Y1 - 2015/8/26

N2 - Needle insertion into soft tissue is one of the common minimally invasive surgical procedures. Many diagnostic and therapeutic clinical procedures require insertion of a needle to a specific location in soft-tissue, including biopsy or radioactive seed implantation for cancer treatment (brachytherapy). In this thesis, we start with modeling the effect of skin thickness on target motion during insertion. A closed-loop control algorithm is then developed for flexible needle steering using camera and ultrasound images for feedback. An ultrasound-based 3D needle tracking algorithm is then combined with real-time path planning for needle steering. The needle is steered during insertion in gelatin-based and biological soft-tissue phantoms. A non-imaging approach (fiber Bragg grating (FBG) sensors) is also used for real-time needle shape reconstruction and tip tracking. FBG sensors are used as feedback to the control algorithm to steer the needle towards a target in 3D space. We then focus on physical target localization and 3D shape reconstruction for needle steering in phantoms with curved surfaces. A clinical application (needle insertion in the prostate) is also investigated where the needle is steered in a multi-layer phantom with different tissue elasticities. In order to bring the proposed algorithms to clinical environments, we consider practical issues such as including the clinician in the control loop to merge robot accuracy with clinical expertise. The proposed system is adapted to enable clinicians to directly control the insertion procedure while receiving navigation cues from the control algorithm. Navigation cues are provided through a combination of haptic (vibratory) and visual feedback to the operator who controls the needle for steering. The proposed system is further adapted by using a clinically-approved Automated Breast Volume Scanner (ABVS) which is experimentally evaluated to be used for needle insertion procedures. The ultrasound-based ABVS system is used for pre-operative scanning of soft-tissue for target localization, shape reconstruction, and also intra-operatively for needle tip tracking during the steering process. The achieved targeting errors suggest that our approach is convenient for targeting lesions that can be detected using clinical ultrasound imaging systems. These promising results allow us to proceed further in bringing our system towards clinical practice.

AB - Needle insertion into soft tissue is one of the common minimally invasive surgical procedures. Many diagnostic and therapeutic clinical procedures require insertion of a needle to a specific location in soft-tissue, including biopsy or radioactive seed implantation for cancer treatment (brachytherapy). In this thesis, we start with modeling the effect of skin thickness on target motion during insertion. A closed-loop control algorithm is then developed for flexible needle steering using camera and ultrasound images for feedback. An ultrasound-based 3D needle tracking algorithm is then combined with real-time path planning for needle steering. The needle is steered during insertion in gelatin-based and biological soft-tissue phantoms. A non-imaging approach (fiber Bragg grating (FBG) sensors) is also used for real-time needle shape reconstruction and tip tracking. FBG sensors are used as feedback to the control algorithm to steer the needle towards a target in 3D space. We then focus on physical target localization and 3D shape reconstruction for needle steering in phantoms with curved surfaces. A clinical application (needle insertion in the prostate) is also investigated where the needle is steered in a multi-layer phantom with different tissue elasticities. In order to bring the proposed algorithms to clinical environments, we consider practical issues such as including the clinician in the control loop to merge robot accuracy with clinical expertise. The proposed system is adapted to enable clinicians to directly control the insertion procedure while receiving navigation cues from the control algorithm. Navigation cues are provided through a combination of haptic (vibratory) and visual feedback to the operator who controls the needle for steering. The proposed system is further adapted by using a clinically-approved Automated Breast Volume Scanner (ABVS) which is experimentally evaluated to be used for needle insertion procedures. The ultrasound-based ABVS system is used for pre-operative scanning of soft-tissue for target localization, shape reconstruction, and also intra-operatively for needle tip tracking during the steering process. The achieved targeting errors suggest that our approach is convenient for targeting lesions that can be detected using clinical ultrasound imaging systems. These promising results allow us to proceed further in bringing our system towards clinical practice.

KW - EWI-26989

KW - METIS-311225

KW - IR-96813

U2 - 10.3990/1.9789036539418

DO - 10.3990/1.9789036539418

M3 - PhD Thesis - Research UT, graduation UT

SN - 978-90-365-3941-8

PB - University of Twente

CY - Enschede

ER -