title: Testing of neurosurgical needle steering via duty-cycled spinning in brain tissue in vitro.
abstract: A technique for steering of flexible bevel-tipped needles through tissue, providing proportional control of trajectory curvature by means of duty-cycled rotation or spinning during insertion, has been presented previously, and tested in vitro in gelatin samples. The present paper presents the results of testing under more authentic conditions. Thirty-two needle insertions were performed in cadaver brain tissue. Needle insertion was controlled interactively by the surgeon, adjusting parameters intraoperatively as needed based on fluoroscope images acquired at intervals of 1-2 cm of insertion depth. The average target acquisition error was 1.80 +/- 1.33 mm.
authors: Department of Biomedical Engineering, Carnegie Mellon University, Pittsburgh, PA 15213, USA. dminhas@umpc.edu
authors: Davneet
authors: D
authors: Minhas
authors: Johnathan A
authors: JA
authors: Engh
authors: Cameron N
authors: CN
authors: Riviere
mesh_terms: D000970:Antineoplastic Agents / Q000008:administration & dosage*; D001932:Brain Neoplasms / Q000188:drug therapy*; D002102:Cadaver; D004867:Equipment Design; D019544:Equipment Failure Analysis; D005240:Feasibility Studies; D006801:Humans; D015552:Injections, Intralesional / Q000295:instrumentation*; D009339:Needles; D019635:Neurosurgical Procedures / Q000295:instrumentation* / Q000379:methods; D015203:Reproducibility of Results; D012399:Rotation; D012680:Sensitivity and Specificity
chemical_list: D000970:Antineoplastic Agents