Three-Dimensional Needle Shape Reconstruction using an Array of Firber Bragg Grating Sensors

Roy J. Roesthuis, Marco Kemp, John J. van den Dobbelsteen, Sarthak Misra

Research output: Contribution to journalArticleAcademicpeer-review

95 Citations (Scopus)

Abstract

We present a prototype of a flexible nitinol needle ($phi$ 1.0 mm and length 172 mm) integrated with an array of 12 Fiber Bragg Grating (FBG) sensors. These sensors measure the axial strain, which enables the computation of the needle curvature. We reconstruct the three-dimensional (3-D) needle shape from the curvature. Experiments are performed where the needle is deflected in free space. The maximum errors between the experiments and beam theory-based model are 0.20 mm (in-plane deflection with single bend), 0.51 mm (in-plane deflection with double bend), and 1.66 mm (out-of-plane). We also describe kinematics-based and mechanics-based models for predicting the 3-D needle shape during insertion into soft tissue. We perform experiments where the needle is inserted into a soft-tissue simulant, and the 3-D needle shape is reconstructed using the FBG sensors. We compare the reconstructed needle shape to deflection obtained from camera images and our models. The maximum error between the experiments and the camera images is 0.74 mm. The maximum errors between the kinematics-based and mechanics-based models and the camera images are 3.77 mm and 2.20 mm, respectively. This study demonstrates that deflection models and needles integrated with FBG sensors have the potential to be used in combination with clinical imaging modalities in order to enable accurate needle steering.
Original languageEnglish
Pages (from-to)1115-1126
Number of pages12
JournalIEEE/ASME transactions on mechatronics
Volume19
Issue number4
DOIs
Publication statusPublished - Aug 2014

Fingerprint

Bragg gratings
Needles
Sensors
Fiber Bragg gratings
Cameras
Mechanics
Kinematics
Experiments
Tissue
Medical imaging

Keywords

  • Needle deflection models
  • Kinematics-based model
  • Mechanics-based model
  • Soft-tissue needle insertion
  • Fiber Bragg gratings (FBG)
  • Shape reconstruction

Cite this

Roesthuis, Roy J. ; Kemp, Marco ; van den Dobbelsteen, John J. ; Misra, Sarthak. / Three-Dimensional Needle Shape Reconstruction using an Array of Firber Bragg Grating Sensors. In: IEEE/ASME transactions on mechatronics. 2014 ; Vol. 19, No. 4. pp. 1115-1126.
@article{fd33cab6cd0d4c06abd49145a242fc7a,
title = "Three-Dimensional Needle Shape Reconstruction using an Array of Firber Bragg Grating Sensors",
abstract = "We present a prototype of a flexible nitinol needle ($phi$ 1.0 mm and length 172 mm) integrated with an array of 12 Fiber Bragg Grating (FBG) sensors. These sensors measure the axial strain, which enables the computation of the needle curvature. We reconstruct the three-dimensional (3-D) needle shape from the curvature. Experiments are performed where the needle is deflected in free space. The maximum errors between the experiments and beam theory-based model are 0.20 mm (in-plane deflection with single bend), 0.51 mm (in-plane deflection with double bend), and 1.66 mm (out-of-plane). We also describe kinematics-based and mechanics-based models for predicting the 3-D needle shape during insertion into soft tissue. We perform experiments where the needle is inserted into a soft-tissue simulant, and the 3-D needle shape is reconstructed using the FBG sensors. We compare the reconstructed needle shape to deflection obtained from camera images and our models. The maximum error between the experiments and the camera images is 0.74 mm. The maximum errors between the kinematics-based and mechanics-based models and the camera images are 3.77 mm and 2.20 mm, respectively. This study demonstrates that deflection models and needles integrated with FBG sensors have the potential to be used in combination with clinical imaging modalities in order to enable accurate needle steering.",
keywords = "Needle deflection models, Kinematics-based model, Mechanics-based model, Soft-tissue needle insertion, Fiber Bragg gratings (FBG), Shape reconstruction",
author = "Roesthuis, {Roy J.} and Marco Kemp and {van den Dobbelsteen}, {John J.} and Sarthak Misra",
year = "2014",
month = "8",
doi = "10.1109/TMECH.2013.2269836",
language = "English",
volume = "19",
pages = "1115--1126",
journal = "IEEE/ASME transactions on mechatronics",
issn = "1083-4435",
publisher = "IEEE",
number = "4",

}

Three-Dimensional Needle Shape Reconstruction using an Array of Firber Bragg Grating Sensors. / Roesthuis, Roy J.; Kemp, Marco; van den Dobbelsteen, John J.; Misra, Sarthak.

In: IEEE/ASME transactions on mechatronics, Vol. 19, No. 4, 08.2014, p. 1115-1126.

Research output: Contribution to journalArticleAcademicpeer-review

TY - JOUR

T1 - Three-Dimensional Needle Shape Reconstruction using an Array of Firber Bragg Grating Sensors

AU - Roesthuis, Roy J.

AU - Kemp, Marco

AU - van den Dobbelsteen, John J.

AU - Misra, Sarthak

PY - 2014/8

Y1 - 2014/8

N2 - We present a prototype of a flexible nitinol needle ($phi$ 1.0 mm and length 172 mm) integrated with an array of 12 Fiber Bragg Grating (FBG) sensors. These sensors measure the axial strain, which enables the computation of the needle curvature. We reconstruct the three-dimensional (3-D) needle shape from the curvature. Experiments are performed where the needle is deflected in free space. The maximum errors between the experiments and beam theory-based model are 0.20 mm (in-plane deflection with single bend), 0.51 mm (in-plane deflection with double bend), and 1.66 mm (out-of-plane). We also describe kinematics-based and mechanics-based models for predicting the 3-D needle shape during insertion into soft tissue. We perform experiments where the needle is inserted into a soft-tissue simulant, and the 3-D needle shape is reconstructed using the FBG sensors. We compare the reconstructed needle shape to deflection obtained from camera images and our models. The maximum error between the experiments and the camera images is 0.74 mm. The maximum errors between the kinematics-based and mechanics-based models and the camera images are 3.77 mm and 2.20 mm, respectively. This study demonstrates that deflection models and needles integrated with FBG sensors have the potential to be used in combination with clinical imaging modalities in order to enable accurate needle steering.

AB - We present a prototype of a flexible nitinol needle ($phi$ 1.0 mm and length 172 mm) integrated with an array of 12 Fiber Bragg Grating (FBG) sensors. These sensors measure the axial strain, which enables the computation of the needle curvature. We reconstruct the three-dimensional (3-D) needle shape from the curvature. Experiments are performed where the needle is deflected in free space. The maximum errors between the experiments and beam theory-based model are 0.20 mm (in-plane deflection with single bend), 0.51 mm (in-plane deflection with double bend), and 1.66 mm (out-of-plane). We also describe kinematics-based and mechanics-based models for predicting the 3-D needle shape during insertion into soft tissue. We perform experiments where the needle is inserted into a soft-tissue simulant, and the 3-D needle shape is reconstructed using the FBG sensors. We compare the reconstructed needle shape to deflection obtained from camera images and our models. The maximum error between the experiments and the camera images is 0.74 mm. The maximum errors between the kinematics-based and mechanics-based models and the camera images are 3.77 mm and 2.20 mm, respectively. This study demonstrates that deflection models and needles integrated with FBG sensors have the potential to be used in combination with clinical imaging modalities in order to enable accurate needle steering.

KW - Needle deflection models

KW - Kinematics-based model

KW - Mechanics-based model

KW - Soft-tissue needle insertion

KW - Fiber Bragg gratings (FBG)

KW - Shape reconstruction

U2 - 10.1109/TMECH.2013.2269836

DO - 10.1109/TMECH.2013.2269836

M3 - Article

VL - 19

SP - 1115

EP - 1126

JO - IEEE/ASME transactions on mechatronics

JF - IEEE/ASME transactions on mechatronics

SN - 1083-4435

IS - 4

ER -