Magnetic Needle Steering in Soft Phantom Tissue

This chapter presents a physical simulator for needle steering in brachytherapy. As the user inserts the needle in a phantom tissue, images of the needle and prostate shape reconstructed from 2D transverse ultrasound images are displayed online in a semi-transparent mirror. During insertion, the user sees the images as if they were floating inside the phantom accounting for scale and orientation. The ultrasound images of the needle are combined with a needle-tissue interaction model that predicts the needle deflection further along the insertion process. The necessary manoeuvres that bring the needle towards its intended target location are displayed to the user along with the actual needle location. This platform allows the user to test different manual and robotic-assisted needle steering techniques. Reported experimental results confirm the accuracy of the system in reconstructing and overlaying images onto the phantom.

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The Deflection of the Magnetic Needle

Scientific American ◽

10.1038/scientificamerican04061895-16070asupp ◽

1895 ◽

Vol 39 (1005supp) ◽

pp. 16070-16070

Keyword(s):

Magnetic Needle

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Closed-loop Autonomous Needle Steering during Cooperatively Controlled Needle Insertions for MRI-guided Pelvic Interventions

10th Hamlyn Symposium on Medical Robotics 2017 ◽

10.31256/hsmr2017.17 ◽

2017 ◽

Cited By ~ 2

Author(s):

M Wartenberg ◽

◽

J Schornak ◽

P Carvalho ◽

N Patel ◽

...

Keyword(s):

Closed Loop ◽

Needle Steering ◽

Mri Guided

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Report of magnetic experiments tried on board an iron steam-vessel, by order of the Right Hon. the Lords Commissioners of the Admiralty

Abstracts of the Papers Printed in the Philosophical Transactions of the Royal Society of London ◽

10.1098/rspl.1830.0233 ◽

1837 ◽

Vol 3 ◽

pp. 378-380

Keyword(s):

Malleable Iron ◽

The Right ◽

The City ◽

Magnetic Needle

This report commences with a description of the iron steam-vessel, the “Garryowen,” belonging to the City of Dublin Steam Packet Company, and built by the Messrs. Laird, of Liverpool. She is constructed of malleable iron, is 281 tons burthen, and draws only 5 1/4 feet water, although the weight of iron in the hull, machinery, &c. is 180 tons. This vessel was placed under the directions of the author, in Tarbert Bay, on the Shannon, on the 19th of October, 1835, for the purpose of investigating its local attractions on the compass. The methods which were adopted with that view are given ; together with tables of the results of the several experiments, and plans of the various parts of the Garryowen. The horizontal deflections of the magnetic needle at different situations in the vessel were observed, for the purpose of ascertaining the most advantageous place for a steering compass, and also for the application of Professor Barlow’s correcting plate : and the dip and intensity in these situations were, at the same time, noted.

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On irregularities observed in the direction of the compass needles of H. M. S. Isabella and Alexander, in their late voyage of discovery, and caused by the attraction of the iron contained in the ships

Abstracts of the Papers Printed in the Philosophical Transactions of the Royal Society of London ◽

10.1098/rspl.1815.0104 ◽

1833 ◽

Vol 2 ◽

pp. 109-109

Keyword(s):

Magnetic Meridian ◽

Magnetic Needle ◽

Made In

In this paper Captain Sabine shows in what respect the effects of local attraction in the above-mentioned ships were conformable to observations made in previous voyages; and how far the errors found to take place on different courses, and under different dips of the magnetic needle, corresponded with those rules for calculating corrections recommended by Captain Flinders, who found that in every ship a compass would differ very materially from itself on being removed from one place to another, and this was found to be the case in the Isabella and Alexander. As the ships ascended Davis’s Straits, the binnacle compasses, in consequence of their construction, became nearly useless; accordingly, a standard compass was placed in the Isabella exactly amidship between the main and mizen mast, on a stout cross-beam, about nine feet above the deck; and in the Alexander amidship, on a box of sand five or six feet above deck. Captain Sabine next describes the methods by which the points of no error in these compasses were determined, and which were not in either ship coincident with the magnetic meridian.

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