Three-dimensional needle steering towards a localized target in a prostate phantom

Momen Abayazid, Navid Shahriari, Sarthak Misra

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Abstract

Prostate biopsy and brachytherapy are commonly used for surgical interventions. In this paper, we present a three-dimensional (3D) pre-operative target localization algorithm and a real-time closed-loop control algorithm to robotically steer flexible needles with an asymmetric tip towards a real target in a prostate phantom. The phantom is composed of different tissues including rectal wall, bladder and prostate. The elasticities of these tissues are obtained using an ultrasound-based (acoustic radiation force impulse imaging) technique, and their geometry are obtained using magnetic resonance images. Six experimental cases are performed to evaluate the steering system while inserting the needle into a prostate phantom with different skin thicknesses, insertion angles and surface inclinations. The experimental results show that the target is reached by the needle in all trials. The mean targeting errors between the needle tip and the center of the target embedded in phantoms with 0 mm, 1.5 mm and 2.5 mm skin thicknesses are 1.12 mm, 0.93 mm and 0.49 mm, respectively. The variation of the insertion angle does not have an appreciable affect on the targeting accuracy. The mean targeting error during insertion into a phantom with an inclined surface is 0.85 mm. The results demonstrate the capability of proposed system to robotically steer needles towards a target for interventions in the prostate.
Original languageUndefined
Title of host publicationProceedings of the fifth IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014
Place of PublicationUSA
PublisherIEEE Engineering in Medicine and Biology Society
Pages7-12
Number of pages6
ISBN (Print)978-1-4799-3126-2
DOIs
Publication statusPublished - 13 Aug 2014
Event5th IEEE RAS & EMBS Interantional Conference on Biomedical Robotics and Biomechatronics, BioRob 2014 - Palacio das Convenções Anhembi, Sao Paulo, Brazil
Duration: 12 Aug 201415 Aug 2014
Conference number: 5

Publication series

NameProceedings of the IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)
PublisherIEEE Engineering in Medicine & Biology Society
ISSN (Print)2155-1774
ISSN (Electronic)2155-1782

Conference

Conference5th IEEE RAS & EMBS Interantional Conference on Biomedical Robotics and Biomechatronics, BioRob 2014
Abbreviated titleBioRob
CountryBrazil
CitySao Paulo
Period12/08/1415/08/14

Keywords

  • EWI-24956
  • IR-92402
  • METIS-309566

Cite this

Abayazid, M., Shahriari, N., & Misra, S. (2014). Three-dimensional needle steering towards a localized target in a prostate phantom. In Proceedings of the fifth IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014 (pp. 7-12). (Proceedings of the IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)). USA: IEEE Engineering in Medicine and Biology Society. https://doi.org/10.1109/BIOROB.2014.6913743
Abayazid, Momen ; Shahriari, Navid ; Misra, Sarthak. / Three-dimensional needle steering towards a localized target in a prostate phantom. Proceedings of the fifth IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014. USA : IEEE Engineering in Medicine and Biology Society, 2014. pp. 7-12 (Proceedings of the IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)).
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title = "Three-dimensional needle steering towards a localized target in a prostate phantom",
abstract = "Prostate biopsy and brachytherapy are commonly used for surgical interventions. In this paper, we present a three-dimensional (3D) pre-operative target localization algorithm and a real-time closed-loop control algorithm to robotically steer flexible needles with an asymmetric tip towards a real target in a prostate phantom. The phantom is composed of different tissues including rectal wall, bladder and prostate. The elasticities of these tissues are obtained using an ultrasound-based (acoustic radiation force impulse imaging) technique, and their geometry are obtained using magnetic resonance images. Six experimental cases are performed to evaluate the steering system while inserting the needle into a prostate phantom with different skin thicknesses, insertion angles and surface inclinations. The experimental results show that the target is reached by the needle in all trials. The mean targeting errors between the needle tip and the center of the target embedded in phantoms with 0 mm, 1.5 mm and 2.5 mm skin thicknesses are 1.12 mm, 0.93 mm and 0.49 mm, respectively. The variation of the insertion angle does not have an appreciable affect on the targeting accuracy. The mean targeting error during insertion into a phantom with an inclined surface is 0.85 mm. The results demonstrate the capability of proposed system to robotically steer needles towards a target for interventions in the prostate.",
keywords = "EWI-24956, IR-92402, METIS-309566",
author = "Momen Abayazid and Navid Shahriari and Sarthak Misra",
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Abayazid, M, Shahriari, N & Misra, S 2014, Three-dimensional needle steering towards a localized target in a prostate phantom. in Proceedings of the fifth IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014. Proceedings of the IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), IEEE Engineering in Medicine and Biology Society, USA, pp. 7-12, 5th IEEE RAS & EMBS Interantional Conference on Biomedical Robotics and Biomechatronics, BioRob 2014, Sao Paulo, Brazil, 12/08/14. https://doi.org/10.1109/BIOROB.2014.6913743

Three-dimensional needle steering towards a localized target in a prostate phantom. / Abayazid, Momen; Shahriari, Navid; Misra, Sarthak.

Proceedings of the fifth IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014. USA : IEEE Engineering in Medicine and Biology Society, 2014. p. 7-12 (Proceedings of the IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)).

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

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N2 - Prostate biopsy and brachytherapy are commonly used for surgical interventions. In this paper, we present a three-dimensional (3D) pre-operative target localization algorithm and a real-time closed-loop control algorithm to robotically steer flexible needles with an asymmetric tip towards a real target in a prostate phantom. The phantom is composed of different tissues including rectal wall, bladder and prostate. The elasticities of these tissues are obtained using an ultrasound-based (acoustic radiation force impulse imaging) technique, and their geometry are obtained using magnetic resonance images. Six experimental cases are performed to evaluate the steering system while inserting the needle into a prostate phantom with different skin thicknesses, insertion angles and surface inclinations. The experimental results show that the target is reached by the needle in all trials. The mean targeting errors between the needle tip and the center of the target embedded in phantoms with 0 mm, 1.5 mm and 2.5 mm skin thicknesses are 1.12 mm, 0.93 mm and 0.49 mm, respectively. The variation of the insertion angle does not have an appreciable affect on the targeting accuracy. The mean targeting error during insertion into a phantom with an inclined surface is 0.85 mm. The results demonstrate the capability of proposed system to robotically steer needles towards a target for interventions in the prostate.

AB - Prostate biopsy and brachytherapy are commonly used for surgical interventions. In this paper, we present a three-dimensional (3D) pre-operative target localization algorithm and a real-time closed-loop control algorithm to robotically steer flexible needles with an asymmetric tip towards a real target in a prostate phantom. The phantom is composed of different tissues including rectal wall, bladder and prostate. The elasticities of these tissues are obtained using an ultrasound-based (acoustic radiation force impulse imaging) technique, and their geometry are obtained using magnetic resonance images. Six experimental cases are performed to evaluate the steering system while inserting the needle into a prostate phantom with different skin thicknesses, insertion angles and surface inclinations. The experimental results show that the target is reached by the needle in all trials. The mean targeting errors between the needle tip and the center of the target embedded in phantoms with 0 mm, 1.5 mm and 2.5 mm skin thicknesses are 1.12 mm, 0.93 mm and 0.49 mm, respectively. The variation of the insertion angle does not have an appreciable affect on the targeting accuracy. The mean targeting error during insertion into a phantom with an inclined surface is 0.85 mm. The results demonstrate the capability of proposed system to robotically steer needles towards a target for interventions in the prostate.

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KW - METIS-309566

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T3 - Proceedings of the IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)

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BT - Proceedings of the fifth IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014

PB - IEEE Engineering in Medicine and Biology Society

CY - USA

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Abayazid M, Shahriari N, Misra S. Three-dimensional needle steering towards a localized target in a prostate phantom. In Proceedings of the fifth IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014. USA: IEEE Engineering in Medicine and Biology Society. 2014. p. 7-12. (Proceedings of the IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)). https://doi.org/10.1109/BIOROB.2014.6913743