Closed-Loop Active Compensation for Needle Deflection and Target Shift During Cooperatively Controlled Robotic Needle Insertion

A mechanics-based model of flexible needle insertion into soft tissue is presented in this paper. Different from the existing kinematic model, a new model has been established based on the quasi-static principle, which also incorporates the dynamics of needle motions. In order to increase the accuracy of the model, nonlinear characteristics of the flexible needle and the soft tissue are both taken into account. The nonlinear Winkler foundation model and the modified Euler–Bernoulli theory are applied in this study, providing a theoretical framework to study insertion and deformation of needles. Galerkin method and iteration cycle analysis are applied in solving a series of deformation control equations to obtain the needle deflection. The parameters used in the mechanics-based model are obtained from the needle force and needle insertion experiment. Sensitivity studies show that the model can respond reasonably to changes in response to variations in different parameters. A 50 mm needle insertion simulation and a 50 mm corresponding needle insertion experiment are conducted to prove the validity of the model. At last, a study on different needle tip bevel demonstrates that the mechanics-based model can precisely predict the needle deflection when more than one parameter is changed. The solution can also be used in optimizing trajectory of the needle tip, enabling the needle to reach the target without touching important physiological structures such as blood vessels with the help of dynamic trajectory planning.

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Force-Sensor-Based Estimation of Needle Tip Deflection in Brachytherapy

Journal of Sensors ◽

10.1155/2013/263153 ◽

2013 ◽

Vol 2013 ◽

pp. 1-10 ◽

Cited By ~ 17

Author(s):

Thomas Lehmann ◽

Mahdi Tavakoli ◽

Nawaid Usmani ◽

Ronald Sloboda

Keyword(s):

Force Sensor ◽

Needle Insertion ◽

Interstitial Brachytherapy ◽

Control Technique ◽

Torque Sensor ◽

Treatment Efficiency ◽

Treatment Procedure ◽

Virtual Sensor ◽

Needle Deflection ◽

Mechanical Models

A virtual sensor is developed for the online estimation of needle tip deflection during permanent interstitial brachytherapy needle insertion. Permanent interstitial brachytherapy is an effective, minimally invasive, and patient friendly cancer treatment procedure. The deflection of the needles used in the procedure, however, undermines the treatment efficiency and, therefore, needs to be minimized. Any feedback control technique to minimize the needle deflection will require feedback of this quantity, which is not easy to provide. The proposed virtual sensor for needle deflection incorporates a force/torque sensor, mounted at the base of the needle that always remains outside the patient. The measured forces/torques are used by a mathematical model, developed based on mechanical needle properties. The resulting estimation of tip deflection in real time during needle insertion is the main contribution of this paper. The proposed approach solely relies on the measured forces and torques without a need for any other invasive/noninvasive sensing devices. A few mechanical models have been introduced previously regarding the way the forces are composed along the needle during insertion; we will compare our model to those approaches in terms of accuracy. In order to conduct experiments to verify the deflection model, a custom-built, 2-DOF robotic system for needle insertion is developed and discussed. This system is a prototype of an intelligent, hand-held surgical assistant tool that incorporates the virtual sensor proposed in this paper.

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Needle Insertion Control Method for Minimizing Both Deflection and Tissue Damage

Journal of Medical Robotics Research ◽

10.1142/s2424905x18420059 ◽

2019 ◽

Vol 04 (01) ◽

pp. 1842005

Author(s):

Ryosuke Tsumura ◽

Yusuke Takishita ◽

Hiroyasu Iwata

Keyword(s):

Tissue Damage ◽

Control Method ◽

Axial Rotation ◽

Needle Insertion ◽

Experimental Results ◽

Insertion Force ◽

Tissue Sections ◽

Needle Deflection ◽

Hole Area ◽

Insertion Method

Because fine needles can easily be deflected, accurate needle insertion is often difficult. Lower abdominal insertion is particularly difficult because of less imaging feedback; thus, an approach for allowing a straight insertion path by minimizing deflection is beneficial in cases of lower abdominal insertion. Although insertion with axial rotation can minimize deflection, the rotational insertion may cause tissue damage. Therefore, we established a novel insertion method for minimizing both deflection and tissue damage by combining rotation and vibration. Using layered tissues, we evaluated the effect of a combination of rotation and vibration in terms of deflection and tissue damage, which were measured by the insertion force and torque, and the area of the hole created by the needle using histological tissue sections to measure tissue damage. The experimental results demonstrated that insertion with unidirectional rotation is risky in terms of tissue wind-up, while insertion with bidirectional rotation can decrease deflection and avoid wind-up. We also found that insertion with vibration can decrease the insertion force and torque. Therefore, insertion with a combination of bidirectional rotation and vibration can minimize needle deflection and tissue damage, including the insertion force and torque and the hole area.

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MECHANICS-BASED BEVEL-TIP NEEDLE DEFLECTION MODEL DURING NEEDLE–SOFT TISSUE INTERACTION PROCESS

Journal of Mechanics in Medicine and Biology ◽

10.1142/s0219519414500766 ◽

2014 ◽

Vol 14 (05) ◽

pp. 1450076 ◽

Cited By ~ 3

Author(s):

SHAN JIANG ◽

XINGJI WANG ◽

ZHILIANG SU

Keyword(s):

Interaction Model ◽

Needle Insertion ◽

Force Model ◽

Insertion Force ◽

Simulation Accuracy ◽

Tissue Properties ◽

Tissue Interaction ◽

Needle Deflection ◽

Tissue Equivalent ◽

Needle Insertion Force

Flexible needle insertion is performed in many clinical and brachytherapy procedures. Needle bending which results from needle–tissue interaction and needle flexibility plays a pivotal role in implantation accuracy. In this paper, a needle insertion force model and a mechanics-based needle deflection model are applied in simulating the real needle insertion process. Using tissue-equivalent materials, the needle force model is acquired from needle insertion experiments. Based on the principle of minimum potential energy, a mechanics-based model is developed to calculate needle deflection. The needle deflection model incorporates needle insertion forces model, needle–tissue interaction model, needle geometric, and tissue properties. The bending–stretching coupling and geometric non-linearity of the flexible needle are both taken into consideration in the needle deflection model. A modified p–y curves method is first introduced in depicting the lateral needle–tissue interaction. The comparison between experimental and simulation results of needle deflection shows that our mechanics-based model can simulate the deflection of the flexible needle with reasonable accuracy. Parametric studies on different geometry properties of needles show that our mechanics-based model can precisely predict the needle deflection when more than one parameter is changed. In addition, as the needle deflection results are obtained numerically by Rayleigh–Ritz approach, further study on the form of deflection formulation leads to the conclusion that choosing a higher order polynomial can improve the overall simulation accuracy.

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Ultrasound-Guided Model Predictive Control of Needle Steering in Biological Tissue

Journal of Medical Robotics Research ◽

10.1142/s2424905x16400079 ◽

2016 ◽

Vol 01 (01) ◽

pp. 1640007 ◽

Cited By ~ 18

Author(s):

Mohsen Khadem ◽

Carlos Rossa ◽

Ron S. Sloboda ◽

Nawaid Usmani ◽

Mahdi Tavakoli

Keyword(s):

Biological Tissue ◽

Tracking System ◽

Maximum Error ◽

Needle Insertion ◽

Steering System ◽

Ultrasound Images ◽

Ultrasound Guided ◽

Needle Steering ◽

Needle Deflection ◽

Main Components

In needle-based medical procedures, beveled tip flexible needles are steered inside soft tissue to reach the desired target locations. In this paper, we have developed an autonomous image-guided needle steering system that enhances targeting accuracy in needle insertion while minimizing tissue trauma. The system has three main components. First is a novel mechanics-based needle steering model that predicts needle deflection and accepts needle tip rotation as an input for needle steering. The second is a needle tip tracking system that determines needle deflection from the ultrasound images. The needle steering model employs the estimated needle deflection at the present time to predict needle tip trajectory in the future steps. The third component is a nonlinear model predictive controller (NMPC) that steers the needle inside the tissue by rotating the needle beveled tip. The MPC controller calculates control decisions based on iterative optimization of the predictions of the needle steering model. To validate the proposed ultrasound-guided needle steering system, needle insertion experiments in biological tissue phantoms are performed in two cases–with and without obstacle. The results demonstrate that our needle steering strategy guides the needle to the desired targets with the maximum error of 2.85[Formula: see text]mm.

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An Experimental Method of Needle Deflection and Prostate Movement Using the Anatomically Accurate Prostate Simulator and the Electromagnetic Tracking System

Volume 4: Bio and Sustainable Manufacturing ◽

10.1115/msec2017-3000 ◽

2017 ◽

Cited By ~ 1

Author(s):

Dian-Ru Li ◽

Jih-Kai Yeh ◽

Wei-Chen Lin ◽

Jeffrey S. Montgomery ◽

Albert Shih

Keyword(s):

Experimental Method ◽

Prostate Biopsy ◽

Tracking System ◽

Needle Insertion ◽

Target Point ◽

Electromagnetic Tracking ◽

Tissue Samples ◽

Prostate Needle Biopsy ◽

Needle Deflection ◽

3D Space

This study develops an experimental method to measure the needle deflection and prostate movement using an anatomically accurate prostate simulator with the electromagnetic tracking (EMT) system. Accurate needle insertion is crucial for prostate biopsy to acquire the tissue samples from cancer sites identified by magnetic resonance imaging. False negatives or inability to diagnose are the clinical challenges in the biopsy procedure. The main cause is that the needle tip missed the targeted cancer sites due to needle deflection and prostate movement. An anatomically accurate prostate simulator was developed to quantitatively and experimentally measure the deviation of needle tip from the ideal path and the movement of a target point in the prostate. The EMT system was utilized to simultaneously track the needle tip and target point positions in 3D space. Results show that the maximal needle deflection occurred at the first 60-mm insertion with 6.7 and 0.7 mm in and perpendicular to the needle insertion plane, respectively. The corresponding target point movements were 6.5 mm and 2.4 mm in and perpendicular to the needle insertion plane, respectively. Differences between multiple insertions through the same path have also been quantified. This method can be utilized to study clinical prostate biopsy techniques, evaluate the accuracy of needle devices, and train clinicians for accurate prostate needle biopsy.

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A MECHANICS-BASED MODEL FOR SIMULATING THE NEEDLE DEFLECTION IN TRANSVERSE ISOTROPIC TISSUE FOR A PERCUTANEOUS PUNCTURE

Journal of Mechanics in Medicine and Biology ◽

10.1142/s021951941950060x ◽

2019 ◽

Vol 19 (06) ◽

pp. 1950060 ◽

Cited By ~ 1

Author(s):

WANYU LIU ◽

ZHIYONG YANG ◽

SHAN JIANG

Keyword(s):

Needle Insertion ◽

Robot Assisted ◽

Insertion Depth ◽

Interaction Forces ◽

Percutaneous Puncture ◽

Needle Deflection ◽

Isotropic Elasticity ◽

Transverse Isotropic ◽

Radioactive Seeds ◽

Medical Needle

During the percutaneous puncture for robot-assisted brachytherapy, a medical needle is usually inserted into fiber-structured soft tissue which has transverse isotropic elasticity, such as muscle and skin, to deliver radioactive seeds that kill cancer cells. To place the radioactive seeds more accurately, it is necessary to assess the effect of the transverse isotropic elasticity on the needle deflection. A mechanics-based model for simulating the needle deflection in transverse isotropic tissue is developed in this paper. The anisotropic needle–tissue interaction forces are estimated and used as inputs to drive the model for simulating needle deflections for different insertion orientation angles. Automatic insertion experiments were performed on a single-layered porcine muscle at five different insertion orientation angles. The results show that the maximum difference in the tip deflection for the different insertion orientation angles is 2.99[Formula: see text]mm when the insertion depth is 50[Formula: see text]mm. The maximum simulated error of the needle axis deflection is 0.62[Formula: see text]mm for all insertion orientation angles. The developed model can successfully simulate the needle deflections inside transverse isotropic tissue for different insertion orientation angles. This work is useful for predicting and compensating for the deflection error for automatic needle insertion.

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Dynamical modeling and controllability analysis of a flexible needle in soft tissue

International Journal of Modeling Simulation and Scientific Computing ◽

10.1142/s1793962313500311 ◽

2014 ◽

Vol 05 (02) ◽

pp. 1350031 ◽

Cited By ~ 2

Author(s):

Arefeh Boroomand ◽

Mahdi Tavakoli ◽

Ron Sloboda ◽

Nawaid Usmani

Keyword(s):

Soft Tissue ◽

Dynamic Model ◽

Closed Loop ◽

Control Strategies ◽

Needle Insertion ◽

Future Research ◽

Needle Steering ◽

Loop Control ◽

Positioning Errors ◽

Tissue System

This paper is concerned with deriving a dynamic model of a moderately flexible needle inserted into soft tissue, where the model's output is the needle deflection. The main advantages of the proposed dynamic modeling approach are that the presented model structure involves parameters that are all measurable or identifiable by simple experiments and that it considers the same inputs that are currently used in the clinical practice of manual needle insertion. Conventional manual needle insertion suffers from the fact that flexible needles bend during insertion and their trajectories often vary from those planned, resulting in positioning errors. Enhancement of needle insertion accuracy via robot-assisted needle steering has received significant attention in the past decade. A common assumption in previous research has been that the needle behavior during insertion can be adequately described by static models relating the needle's forces and torques to its deflection. For closed-loop control purposes, however, a dynamic model of the flexible needle in soft tissue is desired. In this paper, we propose a Lagrangian-based dynamic model for the coupled needle/tissue system, and analyze the response of the dynamic system. Steerability (controllability) analysis is also performed, which is only possible with a dynamic model. The proposed dynamic model can serve as a cornerstone of future research into designing dynamics-based control strategies for closed-loop needle steering in soft tissue aimed at minimizing position error.

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Simulation for Needle Deflection and Soft Tissue Deformation in Needle Insertion

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.139-141.889 ◽

2010 ◽

Vol 139-141 ◽

pp. 889-892

Author(s):

De Dong Gao ◽

Hao Jun Zheng

Keyword(s):

Finite Element ◽

Soft Tissue ◽

Three Dimensional ◽

Needle Insertion ◽

Tissue Deformation ◽

Spring Model ◽

Ansys Software ◽

Soft Tissue Deformation ◽

Needle Deflection ◽

Element Method

Needle deflection and soft tissue deformation are the most important factors that affect accuracy in needle insertion. Based on the quasi-static thinking and needle forces, an improved virtual spring model and a finite element method are presented to analyze needle deflection and soft tissue deformation when a needle is inserted into soft tissue. According to the spring model, the trajectory of the needle tip is calculated with MATLAB using different parameters. With the superposed element method, the two and three dimensional quasi-static finite element models are created to simulate the dynamic process of soft tissue deformation using ANSYS software. The two methods will be available for steering the flexible needle to hit the target and avoid the obstacles precisely in the robot-assisted needle insertion.

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Modeling and Simulation of Flexible Needle Insertion Into Soft Tissue Using Modified Local Constraints

Journal of Manufacturing Science and Engineering ◽

10.1115/1.4034134 ◽

2016 ◽

Vol 138 (12) ◽

Cited By ~ 7

Author(s):

Dedong Gao ◽

Yong Lei ◽

Bin Lian ◽

Bin Yao

Keyword(s):

Soft Tissue ◽

Interaction Model ◽

Ccd Camera ◽

Coupling Model ◽

Needle Insertion ◽

Medical Procedure ◽

Tissue Deformation ◽

Friction Forces ◽

Needle Deflection ◽

Insertion Procedure

Needle insertion is a widely used medical procedure in various minimally invasive surgeries. The estimation of the coupled needle deflection and tissue deformation during the needle insertion procedure is crucial to the success of the surgery. In this work, a novel needle deflection–tissue deformation coupling model is proposed for flexible needle insertion into soft tissue. Based on the assumption that the needle deflection is small comparing to the length of the insertion, the needle–tissue interaction model is developed based on the modified local constraint method, where the interactive forces between the needle and the tissue are balanced through integration of needle–force and tissue–force relationships. A testbed is constructed and the experiments are designed to validate the proposed method using artificial phantom with markers. Based on the experimental analysis, the cutting and friction forces are separated from the force–time curves and used as the inputs into the proposed model. The trajectories of the markers inside the soft tissue are recorded by a CCD camera to compare with the simulation trajectories. The errors between the experimental and simulation trajectories are less than 0.8 mm. The results demonstrate that the proposed method is effective to model the needle insertion procedure.

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