Needle deflection estimation: prostate brachytherapy phantom experiments

International Journal of Computer Assisted Radiology and Surgery

Volumn 9, Issue 6, 2014, Pages 921-929

  Sadjadi, Hossein ^a   Hashtrudi Zaad, Keyvan ^a   Fichtinger, Gabor ^a  

^a QUEEN S UNIVERSITY   (Canada)

Author keywords

Brachytherapy; Electromagnetic tracking; Kalman filter; Needle deflection estimation; Sensor fusion; Surgical navigation

Indexed keywords

BIOMECHANICS; BRACHYTHERAPY; COMPUTER ASSISTED DIAGNOSIS; DEVICES; EVALUATION STUDY; HUMAN; IMAGING PHANTOM; MALE; NEEDLE; PROCEDURES; PROSTATIC NEOPLASMS; THEORETICAL MODEL;

BIOMECHANICAL PHENOMENA; BRACHYTHERAPY; HUMANS; IMAGE INTERPRETATION, COMPUTER-ASSISTED; MALE; MODELS, THEORETICAL; NEEDLES; PHANTOMS, IMAGING; PROSTATIC NEOPLASMS;

EID: 84893712400     PISSN: 18616410     EISSN: 18616429     Source Type: Journal    
DOI: 10.1007/s11548-014-0985-0     Document Type: Article

References (43)

1. Park W, Liu Y, Zhou Y, Moses M, Chirikjian GS (2008) Kinematic state estimation and motion planning for stochastic nonholonomic systems using the exponential map. Robotica 26(4):419–434
2. Abolhassani N, Patel R, Moallem M (2007) Needle insertion into soft tissue: a survey. Med Eng Phys 29(4):413–431
3. Sadjadi H, Hashtrudi-Zaad K, Fichtinger G (2012) Needle deflection estimation using fusion of electromagnetic trackers. In: International conference of the IEEE engineering in medicine and biology society (EMBC). San Diego, pp 952–955
4. Sadjadi H, Hashtrudi-Zaad K, Fichtinger G (Oct 2013) Fusion of electromagnetic trackers to improve needle deflection estimation: simulation study. IEEE Trans Biomed Eng (TBME) 60(10):2706–2715
5. Sadjadi H, Hashtrud-Zaad K, Xu H, Fichtinger G (2013) Experimental evaluation of needle deflection estimation for brachytherapy. In: Computer assisted radiology and surgery (CARS 2013). Heidelberg (abstract in International Journal of Computer Assisted Surgery and Radiology, 8(1):391–392)
6. Hinnen KA, Battermann JJ, van Roermund JGH, Moerland MA, Jurgenliemk-Schulz IM, Frank SJ, van Vulpen M (2010) Long-term biochemical and survival outcome of 921 patients treated with I-125 permanent prostate brachytherapy. Int J Radiat Oncol Biol Phys 76(5):1433–1438
7. Wallner K, Merrick G, Dattoli MJ, Blasko JC (2007) Prostate brachytherapy made complicated. SmartMedicine Press, p 600
8. Van Veen YRJ, Jahya A, Misra S (2012) Macroscopic and microscopic observations of needle insertion into gels. Eng Med 226(6):441–449
9. Podder T, Clark D, Sherman J, Fuller D, Messing E, Rubens D, Strang J, Zhang Y, O’Dell W, Ng W, Yu Y (2005) Effects of tip geometry of surgical needles: an assessment of force and deflection. In: European medical and biological engineering conference (EMBEC05). Prague, pp 1727–1983
10. Podder T, Sherman J, Rubens D, Messing E, Strang J, Ng WS, Yu Y (2008) Methods for prostate stabilization during transperineal LDR brachytherapy. Phys Med Biol 53(6):1563
11. Nath S, Chen Z, Yue N, Trumpore S, Peschel R (2000) Dosimetric effects of needle divergence in prostate seed implant using 125I and 103Pd radioactive seeds. Med Phys 27(5):1058
12. Lagerburg V, Moerland M, Konings M, Vosse R, JaBJ Lagendijk (2006) Development of a tapping device: a new needle insertion method for prostate brachytherapy. Phys Med Biol 51:891
13. Abolhassani N, Patel R, Ayazi F (2007) Effects of different insertion methods on reducing needle deflection. In: 29th Annual international conference of the IEEE engineering in medicine and biology society, EMBS 2007, pp 491–494
14. McGill CS, Schwartz JA, Moore JZ, McLaughlin PW, Shih AJ (2011) Precision grid and hand motion for accurate needle insertion in brachytherapy. Med Phys 38:4749
15. Majewicz A, Marra S, van Vledder M, Lin M, Choti M, Song D, Okamura A (2012) Behavior of tip-steerable needles in ex vivo and in vivo tissue. IEEE Trans Biomed Eng 59(10):2705–2715
16. Goksel O, Dehghan E, Salcudean S (2009) Modeling and simulation of flexible needles. Med Eng Phys 31(9):1069–1078
17. Glozman D, Shoham M (2007) Image-guided robotic flexible needle steering. IEEE Trans Robot 23(3):459–467
18. Asadian A, Kermani M, Patel R (2011) An analytical model for deflection of flexible needles during needle insertion. In: IEEE/RSJ international conference on intelligent robots and systems (IROS), pp 2551–2556
19. Okamura AM, Simone C, O’Leary MD (2004) Force modeling for needle insertion into soft tissue. IEEE Trans Biomed Eng 51(10):1707–1716
20. DiMaio SP, Salcudean S (2003) Needle insertion modeling and simulation. IEEE Trans Robot Autom 19(5):864–875
21. Podder T, Clark D, Sherman J, Fuller D, Messing E, Rubens D, Strang J, Brasacchio R, Liao L, Ng WS et al (2006) In vivo motion and force measurement of surgical needle intervention during prostate brachytherapy. Med Phys 33:2915
22. Yan K, Podder T, Xiao D, Yu Y, Liu TI, Cheng C, Ng W (2006) An improved needle steering model with online parameter estimator. Int J Comput Assist Radiol Surg 1(4):205–212
23. Jafari AH, Dhaouadi R, Jhemi A (2013) Nonlinear friction estimation in elastic drive systems using a dynamic neural network-based observer. J Adv Comput Intell Intell Inform 17(4):637–646
24. DiMaio SP, Salcudean SE (2005) Needle steering and motion planning in soft tissues. IEEE Trans Biomed Eng 52(6):965–974
25. Webster RJ, Kim JS, Cowan NJ, Chirikjian GS, Okamura AM (2006) Nonholonomic modeling of needle steering. Int J Robot Res 25(5):509
26. Minhas DS, Engh JA, Fenske MM, Riviere CN (2007) Modeling of needle steering via duty-cycled spinning. In: International conference of the IEEE engineering in medicine and biology society (EMBC), pp 2756–2759
27. Bernardes MC, Adorno BV, Poignet P, Borges GA (2013) Robot-assisted automatic insertion of steerable needles with closed-loop imaging feedback and intraoperative trajectory replanning. Mechatronics 23(6):630–645
28. Park W, Reed KB, Okamura AM, Chirikjian GS (2010) Estimation of model parameters for steerable needles. In: IEEE International conference on robotics and automation (ICRA), pp 3703–3708
29. Maier-Hein L, Franz A, Birkfellner W, Hummel J, Gergel I, Wegner I, Meinzer HP (2012) Standardized assessment of new electromagnetic field generators in an interventional radiology setting. Med Phys 39:3424
30. Aboofazeli M, Abolmaesumi P, Mousavi P, Fichtinger G (2009) A new scheme for curved needle segmentation in three-dimensional ultrasound images. In: IEEE international symposium on biomedical imaging: from nano to macro, (ISBI), pp 1067–1070
31. Ren H, Rank D, Merdes M, Stallkamp J, Kazanzides P (2012) Multisensor data fusion in an integrated tracking system for endoscopic surgery. IEEE Trans Inf Technol Biomed 16(1):106–111
32. Dehghan E, Wen X, Zahiri-Azar R, Marchal M, Salcudean SE (2008) Needle-tissue interaction modeling using ultrasound-based motion estimation: phantom study. Computer Aided Surg 13(5):265–280
33. Datla NV, Konh B, Koo JJ, Choi DJ, Yu Y, Dicker AP, Podder TK, Darvish K, Hutapea P (2014) Polyacrylamide phantom for self-actuating needle-tissue interaction studies. Med Eng Phys 36(1):140–145
34. Hungr N, Long JA, Beix V, Troccaz J (2012) A realistic deformable prostate phantom for multimodal imaging and needle-insertion procedures. Med Phys 39(4):2031–2041
35. Betrouni N, Nevoux P, Leroux B, Colin P, Puech P, Mordon S (2013) An anatomically realistic and adaptable prostate phantom for laser thermotherapy treatment planning. Med Phys 40:022701
36. Bo LE, Leira HO, Tangen GA, Hofstad EF, Amundsen T, Lango T (2012) Accuracy of electromagnetic tracking with a prototype field generator in an interventional OR setting. Med Phys 39(1):399
37. Buyyounouski MK, Davis BJ, Prestidge BR, Shanahan TG, Stock RG, Grimm PD, Demanes DJ, Zaider M, Horwitz EM (2012) A survey of current clinical practice in permanent and temporary prostate brachytherapy: 2010 update. Brachytherapy 11(4):299
38. Seeberger R, Kane G, Hoffmann J, Eggers G (2012) Accuracy assessment for navigated maxillo-facial surgery using an electromagnetic tracking device. J Craniomaxillofac Surg 40(2):156–161
39. Lugez E, Pichora DR, Akl SG, Ellis RE (2013) Accuracy of electromagnetic tracking in an operating-room setting. In: Computer assisted radiology and surgery (CARS 2013). Heidelberg (abstract in International Journal of Computer Assisted Surgery and Radiology, vol. 8(1):147–148)
40. Lango T, Vijayan S, Rethy A, Vapenstad C, Solberg OV, Marvik R, Johnsen G, Hernes TN (2012) Navigated laparoscopic ultrasound in abdominal soft tissue surgery: technological overview and perspectives. Int J Comput Assist Radiol Surg 7(4):585–599
41. Lugez E, Pichora DR, Akl SG, Ellis RE (2013) Accuracy of electromagnetic tracking in an image-guided surgery suite. Bone Jt J Orthop Proc Suppl 95(Supp 28):25
42. Jain A, Kon R, Zhou Y, Fichtinger G (2005) C-arm calibration-is it really necessary? In: Medical image computing and computer-assisted intervention (MICCAI), pp 639–646
43. Wan G, Wei Z, Gardi L, Downey DB, Fenster A (2005) Brachytherapy needle deflection evaluation and correction. Med Phys 32:902