NDLI: Needle deflection prediction using adaptive slope model

Content Provider	IEEE Xplore Digital Library
Author	Dorileo, E. Zemiti, N. Poignet, P.
Copyright Year	2015
Description	Author affiliation: Robotic Dept. - LIRMM, Univ. of Montpellier, Montpellier, France (Dorileo, E.; Zemiti, N.; Poignet, P.)
Abstract	Thin and long (semi-rigid) needles are well known to bend during percutaneous insertions because of needle-tissue interactions. Robotized needle insertions have been proposed to improve the efficacy of Interventional Radiology (IR) procedures such as radiofrequency ablation (RFA) of kidney tumors. However, the success of treatments and diagnosis depends on accurate prediction of needle deflection. This work aims to demonstrate the feasibility of merging needle-tissue properties, tip asymmetry and needle tip position updates to assist needle placement. In this paper we proposed a needle-tissue interaction model that matches the observations of transversal and axial resultant forces acting in the system. Analysis of a slope parameter between needle and tissue provides online and offline needle deflections predictions. Online updates of the needle tip position allow adaptive corrections of the slope parameter. Moreover, promising results were observed while evaluating the model's performance under uncertainties conditions such as tissue deformation, tissue inhomogeneity, needle-tissue friction, topological changes of the tissue and other modeling approximations. The system is evaluated by experiments in soft (homogeneous) PVC and multilayer tissue phantoms. Experiment results of needle placement into soft tissues presented average error of 1.04 mm. Meanwhile, online corrections decreased the error of offline predictions of 25%. The system shows an encouraging ability to predict semi-rigid needle deflection during interactions with elastic medium.
Starting Page	60
Ending Page	65
File Size	728427
Page Count	6
File Format	PDF
e-ISBN	9781467375092
DOI	10.1109/ICAR.2015.7251434
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-07-27
Publisher Place	Turkey
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Needles Adaptation models Phantoms Force Springs Robots Approximation methods adaptive slope model percutaneous insertion needle deflection prediction modeling
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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