Estimating needle tip deflection in biological tissue from a single transverse ultrasound image: application to brachytherapy

International Journal of Computer Assisted Radiology and Surgery

Volumn 11, Issue 7, 2016, Pages 1347-1359

  Rossa, Carlos ^a   Sloboda, Ron ^a   Usmani, Nawaid ^a   Tavakoli, Mahdi ^a  

^a UNIVERSITY OF ALBERTA   (Canada)

Author keywords

Brachytherapy; Needle insertion; Needle tissue Interaction; Ultrasound Guidance

Indexed keywords

ARTICLE; BIOLOGICAL TISSUE; BRACHYTHERAPY; BRACHYTHERAPY DEVICE; BRACHYTHERAPY NEEDLE; CONTROLLED STUDY; ECHOGRAPHY; EX VIVO STUDY; HUMAN; HUMAN TISSUE; IN VIVO STUDY; JOINT STIFFNESS; KINEMATICS; MALE; NEEDLE; NEEDLE TIP DEFLECTION; PHYSICAL PHENOMENA; PRIORITY JOURNAL; PROSTATE CANCER; REAL TIME ULTRASOUND SCANNER; SOFT TISSUE; ULTRASOUND TRANSDUCER; ALGORITHM; COMPUTER ASSISTED SURGERY; IMAGE GUIDED RADIOTHERAPY; IMAGING PHANTOM; MOTION; PROCEDURES; PROSTATIC NEOPLASMS; THEORETICAL MODEL;

ALGORITHMS; BRACHYTHERAPY; HUMANS; MALE; MODELS, THEORETICAL; MOTION; NEEDLES; PHANTOMS, IMAGING; PROSTATIC NEOPLASMS; RADIOTHERAPY, IMAGE-GUIDED; SURGERY, COMPUTER-ASSISTED; ULTRASONOGRAPHY;

EID: 84948666880     PISSN: 18616410     EISSN: 18616429     Source Type: Journal    
DOI: 10.1007/s11548-015-1329-4     Document Type: Article

References (29)

1. Abayazid M, Roesthuis R, Reilink R, Misra S (2013) Integrating deflection models and image feedback for real-time flexible needle steering. Robot IEEE Trans 29(2):542–553
2. Abolhassani N, Patel R, Ayazi F (2007) Needle control along desired tracks in robotic prostate brachytherapy. In: IEEE international conference on systems, man and cybernetics, 2007, ISIC, pp 3361–3366. IEEE
3. Beer FP, Sanghi S (2012) Mechanics of materials, 6th edn. McGraw-Hill, New York (global ed./adapted by Sanjeev Sanghi edn., includes index)
4. Bogdanich W (2009) At VA hospital, a rogue cancer unit. The New York Times, New York
5. Chapman GA, Johnson D, Bodenham AR (2006) Visualisation of needle position using ultrasonography. Anaesthesia 61(2):148–158. doi:10.1111/j.1365-2044.2005.04475.x
6. Chin KJ, Perlas A, Chan VW, Brull R (2008) Needle visualization in ultrasound-guided regional anesthesia: challenges and solutions. Reg Anesth Pain Med 33(6):532–544
7. Dehghan E, Goksel O, Salcudean SE (2006) A comparison of needle bending models. In: Medical image computing and computer-assisted intervention–MICCAI 2006, pp 305–312. Springer
8. Fischler MA, Bolles RC (1981) Random sample consensus: a paradigm for model fitting with applications to image analysis and automated cartography. Commun ACM 24(6):381–395
9. Glozman D, Shoham M (2007) Image-guided robotic flexible needle steering. Robot IEEE Trans 23(3):459–467. doi:10.1109/TRO.2007.898972
10. Goksel O, Dehghan E, Salcudean SE (2009) Modeling and simulation of flexible needles. Med Eng Phys 31(9):1069–1078
11. Gonzales RC, Woods RE (2002) Digital image processing, 2nd edn. Prentice Hall, Upper Saddle River
12. Haddadi A, Hashtrudi-Zaad K (2011) Development of a dynamic model for bevel-tip flexible needle insertion into soft tissues. In: 2011 annual international conference of the IEEE, engineering in medicine and biology society, EMBC, pp 7478–7482. IEEE
13. Hong J, Dohi T, Hashizume M, Konishi K, Hata N (2004) An ultrasound-driven needle-insertion robot for percutaneous cholecystostomy. Phys Med Biol 49(3):441
14. Khadem M, Fallahi B, Rossa C, Sloboda R, Usmani N, Tavakoli M (2015) A mechanics-based model for simulation and control of flexible needle insertion in soft tissue. In: 2015 IEEE international conference on, robotics and automation (ICRA), pp 2264–2269
15. Krouskop TA, Wheeler TM, Kallel F, Garra BS, Hall T (1998) Elastic moduli of breast and prostate tissues under compression. Ultrason Imaging 20(4):260–274
16. Lachaine M, Falco T (2013) Intrafractional prostate motion management with the clarity autoscan system. Med Phys Int 1(1):72–80
17. Lehmann T, Rossa C, Usmani N, Sloboda R, Tavakoli M (2015) A virtual sensor for needle deflection estimation during soft-tissue needle insertion. In: 2015 IEEE international conference on, robotics and automation (ICRA), pp 1217–1222
18. Mathiassen K, Dall’Alba D, Muradore R, Fiorini P, Elle OJ (2013) Real-time biopsy needle tip estimation in 2d ultrasound images. In: 2013 IEEE international conference on, robotics and automation (ICRA), pp 4363–4369. IEEE
19. Misra S, Reed K, Schafer B, Ramesh K, Okamura A (2010) Mechanics of flexible needles robotically steered through soft tissue. Int J Robot Res 29(13):1640–1660. doi:10.1177/0278364910369714
20. Moreira P, Misra S (2014) Biomechanics-based curvature estimation for ultrasound-guided flexible needle steering in biological tissues. Ann Biomed Eng. doi:10.1007/s10439-014-1203-5
21. Nag S, Bice W, DeWyngaert K, Prestidge B, Stock R, Yu Y (2000) The american brachytherapy society recommendations for permanent prostate brachytherapy postimplant dosimetric analysis. Int J Radiat Oncol Biol Phys 46(1):221–230
22. Neubach Z, Shoham M (2010) Ultrasound-guided robot for flexible needle steering. Biomed Eng IEEE Trans 57(4):799–805
23. Okamura A, Simone C, O’Leary M (2004) Force modeling for needle insertion into soft tissue. IEEE Trans Biomed Eng 51(10):1707–1716. doi:10.1109/TBME.2004.831542
24. Okazawa SH, Ebrahimi R, Chuang J, Rohling RN, Salcudean SE (2006) Methods for segmenting curved needles in ultrasound images. Med Image Anal 10(3):330–342
25. Schlosser J, Salisbury K, Hristov D (2011) We-d-220-01: tissue displacement monitoring for prostate and liver igrt using a robotically-controlled ultrasound system. Med Phys 38(6):3812–3812
26. Spong MW, Vidyasagar M (2008) Robot dynamics and control. Wiley, Hoboken
27. Vrooijink GJ, Abayazid M, Patil S, Alterovitz R, Misra S (2014) Needle path planning and steering in a three-dimensional non-static environment using two-dimensional ultrasound images. Int J Robot Res 33(10): 0278364914526627
28. Waine M, Rossa C, Sloboda R, Usmani N, Tavakoli M (2015) 3D shape visualization of curved needles in tissue from 2D ultrasound images using ransac. In: 2015 IEEE international conference on, robotics and automation, pp 4723–4728. IEEE
29. Yan P, Cheeseborough JC, Chao KC (2012) Automatic shape-based level set segmentation for needle tracking in 3-d trus-guided prostate brachytherapy. Ultrasound Med Biol 38(9):1626–1636