title: Curved multi-tube device for path-error correction in a needle-insertion system.
abstract: BACKGROUND
  Needle insertion is an important procedure for the diagnosis and treatment of various diseases. A prototype curved multi-tube device (CMTD) and system for performing computerized correction of path errors during needle insertion is described.
  
  
  METHODS
  The CMTD provides two functional modes, the straight-needle mode and the curved-needle mode. This study describes the CMTD and path-error correction, using a prototype needle-insertion system in a trial with a simple water phantom.
  
  
  RESULTS
  The needle insertion procedure was performed precisely in the centre of an ultrasound image. The CMTD functioned with the inner needle extending properly from its sleeve to correct path errors.
  
  
  CONCLUSIONS
  The path-error corrections by the CMTD in a needle-insertion system were shown. The system's computer processing can successfully determine the needle path from the ultrasound image and automatically guide the CMTD to the target.
authors.affiliation: Department of Gastroenterological Surgery, Graduate School of Medicine, Osaka University, Yamadaoka, Suita, Osaka Prefecture, Japan.
authors.forename: Motokazu
authors.initials: M
authors.lastname: Terayama
authors.forename: Junji
authors.initials: J
authors.lastname: Furusho
authors.forename: Morito
authors.initials: M
authors.lastname: Monden
mesh_terms: D001652:Bile Ducts / Q000000981:diagnostic imaging / Q000601:surgery; D003626:Data Display; D004322:Drainage / Q000295:instrumentation*; D004867:Equipment Design; D019544:Equipment Failure Analysis; D007091:Image Processing, Computer-Assisted; D007267:Injections / Q000295:instrumentation*; D019300:Medical Errors; D008962:Models, Theoretical; D009339:Needles; D019047:Phantoms, Imaging; D011677:Punctures / Q000295:instrumentation*; D013813:Therapy, Computer-Assisted / Q000295:instrumentation*; D014463:Ultrasonography