title: Semi-Automated Needle Steering in Biological Tissue Using an Ultrasound-Based Deflection Predictor.
abstract: The performance of needle-based interventions depends on the accuracy of needle tip positioning. Here, a novel needle steering strategy is proposed that enhances accuracy of needle steering. In our approach the surgeon is in charge of needle insertion to ensure the safety of operation, while the needle tip bevel location is robotically controlled to minimize the targeting error. The system has two main components: (1) a real-time predictor for estimating future needle deflection as it is steered inside soft tissue, and (2) an online motion planner that calculates control decisions and steers the needle toward the target by iterative optimization of the needle deflection predictions. The predictor uses the ultrasound-based curvature information to estimate the needle deflection. Given the specification of anatomical obstacles and a target from preoperative images, the motion planner uses the deflection predictions to estimate control actions, i.e., the depth(s) at which the needle should be rotated to reach the target. Ex-vivo needle insertions are performed with and without obstacle to validate our approach. The results demonstrate the needle steering strategy guides the needle to the targets with a maximum error of 1.22 mm.
authors.affiliation: Department of Electrical and Computer Engineering, University of Alberta, Edmonton, AB, T6G 1H9, Canada. mohsen.khadem@ualberta.ca.
authors.forename: Mohsen
authors.identifier: 0000-0002-6873-273X
authors.initials: M
authors.lastname: Khadem
authors.affiliation: Department of Electrical and Computer Engineering, University of Alberta, Edmonton, AB, T6G 1H9, Canada.
authors.forename: Carlos
authors.initials: C
authors.lastname: Rossa
authors.affiliation: The Cross Cancer Institute and the Department of Oncology, University of Alberta, Edmonton, AB, T6G 1Z2, Canada.
authors.forename: Nawaid
authors.initials: N
authors.lastname: Usmani
authors.affiliation: The Cross Cancer Institute and the Department of Oncology, University of Alberta, Edmonton, AB, T6G 1Z2, Canada.
authors.forename: Ron S
authors.initials: RS
authors.lastname: Sloboda
authors.affiliation: Department of Electrical and Computer Engineering, University of Alberta, Edmonton, AB, T6G 1H9, Canada.
authors.forename: Mahdi
authors.initials: M
authors.lastname: Tavakoli
mesh_terms: D006801:Humans; D009339:Needles; D065287:Robotic Surgical Procedures / Q000295:instrumentation* / Q000379:methods*; D025321:Surgery, Computer-Assisted / Q000295:instrumentation* / Q000379:methods*; D014463:Ultrasonography
keywords: Homotopy analysis method; Medical robotics; Motion planning; Needle steering