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

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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Needle Tracking and Deflection Prediction for Robot-Assisted Needle Insertion Using 2D Ultrasound Images

Journal of Medical Robotics Research ◽

10.1142/s2424905x16400018 ◽

2016 ◽

Vol 01 (01) ◽

pp. 1640001 ◽

Cited By ~ 13

Author(s):

Michael Waine ◽

Carlos Rossa ◽

Ron Sloboda ◽

Nawaid Usmani ◽

Mahdi Tavakoli

Keyword(s):

Interaction Model ◽

Needle Insertion ◽

Steering System ◽

Target Area ◽

Ultrasound Images ◽

Tissue Deformation ◽

Robot Assisted ◽

Needle Deflection ◽

The Us ◽

2D Ultrasound

In many types of percutaneous needle insertion surgeries, tissue deformation and needle deflection can create significant difficulties for accurate needle placement. In this paper, we present a method for automatic needle tracking in 2D ultrasound (US) images, which is used in a needle–tissue interaction model to estimate current and future needle tip deflection. This is demonstrated using a semi-automatic needle steering system. The US probe can be controlled to follow the needle tip or it can be stopped at an appropriate position to avoid tissue deformation of the target area. US images are used to fully parameterize the needle-tissue model. Once the needle deflection reaches a pre-determined threshold, the robot rotates the needle to correct the tip’s trajectory. Experimental results show that the final needle tip deflection can be estimated with average accuracies between 0.7[Formula: see text]mm and 1.0[Formula: see text]mm for insertions with and without rotation. The proposed method provides surgeons with improved US feedback of the needle tip deflection and minimizes the motion of the US probe to reduce tissue deformation of the target area.

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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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Ultrasound-guided three-dimensional needle steering in biological tissue with curved surfaces

Medical Engineering & Physics ◽

10.1016/j.medengphy.2014.10.005 ◽

2015 ◽

Vol 37 (1) ◽

pp. 145-150 ◽

Cited By ~ 27

Author(s):

Momen Abayazid ◽

Pedro Moreira ◽

Navid Shahriari ◽

Sachin Patil ◽

Ron Alterovitz ◽

...

Keyword(s):

Biological Tissue ◽

Three Dimensional ◽

Curved Surfaces ◽

Ultrasound Guided ◽

Needle Steering

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3-D Ultrasound-Guided Robotic Needle Steering in Biological Tissue

IEEE Transactions on Biomedical Engineering ◽

10.1109/tbme.2014.2334309 ◽

2014 ◽

Vol 61 (12) ◽

pp. 2899-2910 ◽

Cited By ~ 56

Author(s):

Troy K. Adebar ◽

Ashley E. Fletcher ◽

Allison M. Okamura

Keyword(s):

Biological Tissue ◽

Ultrasound Guided ◽

Needle Steering

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Experimental evaluation of ultrasound-guided 3D needle steering in biological tissue

International Journal of Computer Assisted Radiology and Surgery ◽

10.1007/s11548-014-0987-y ◽

2014 ◽

Vol 9 (6) ◽

pp. 931-939 ◽

Cited By ~ 39

Author(s):

Momen Abayazid ◽

Gustaaf J. Vrooijink ◽

Sachin Patil ◽

Ron Alterovitz ◽

Sarthak Misra

Keyword(s):

Biological Tissue ◽

Experimental Evaluation ◽

Ultrasound Guided ◽

Needle Steering

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Ultrasound Guided Regional Anesthesia

10.1093/med/9780190231804.001.0001 ◽

2016 ◽

Keyword(s):

Regional Anesthesia ◽

Patient Positioning ◽

Needle Insertion ◽

Clinical Anatomy ◽

Ultrasound Images ◽

Ultrasound Guided ◽

Nerve Blocks ◽

Basic Principles ◽

Quadratus Lumborum ◽

Out Of Plane

This clinically based, comprehensive textbook provides a detailed description of the most useful nerve blocks in ultrasound guided regional anesthesia. Four sections cover Basic Principles (including an appendix, “What Block for What Surgery?), Upper Limb Blocks, Lower Limb Blocks, and Trunk and Spine Blocks. The initial chapter provides a review of ultrasound physics that allows the practitioner to understand how to optimize the ultrasound machine to produce the best ultrasound images possible. This foundation, along with the clinical tips and step-by-step techniques for in-plane and out-of-plane needle guidance, make this instructive text useful for practitioners at all levels. The first chapter also includes seven Keys to Ultrasound Success and concludes with a clinical summary of which blocks to perform for specific surgeries or trauma situations. The specific blocks covered in the remaining chapters range from the classic femoral, interscalene, popliteal sciatic, and axillary blocks to more novel blocks such as the adductor canal, selective suprascapular, quadratus lumborum, and PECS blocks. Each block description includes a review of clinical anatomy, indications, positioning, and a step-by-step approach to ultrasound imaging and needle insertion. Ultrasound images are provided in both an unedited, clean version and a companion version that is clearly labeled, allowing the reader to compare the images side by side. Throughout the book, comprehensive photographs of ultrasound images, cadaver dissections, and patient positioning are provided, with vibrant, colorful annotations that significantly add to the clarity of instruction provided.

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3D Shape Estimation of an Active Needle Inside Tissue Using 2D Ultrasound Images

2021 Design of Medical Devices Conference ◽

10.1115/dmd2021-1053 ◽

2020 ◽

Author(s):

Bardia Konh ◽

Zolboo Batsaikhan ◽

Blayton Padasdao

Keyword(s):

Maximum Error ◽

Needle Insertion ◽

Average Error ◽

Ultrasound Images ◽

Shape Estimation ◽

Insertion Depth ◽

Feedback Information ◽

Precise Control ◽

3D Shape ◽

True Shape

Abstract This work presents a method to estimate 3D shape of an active needle inside tissue using 2D transverse ultrasound images. The shape of the needle provides a valuable feedback information for precise control and guidance of the needle inside tissue toward target. We used a series of image processing techniques to identify the needle’s cross section in the ultrasound images. Using this method, we estimated the 3D shape of a tendon-driven active needle, when bent inside a transparent phantom tissue using a robotic needle insertion system. The estimated shape of the needle was then compared with true shape of the needle captured by two cameras. At least three ultrasound images were required to estimate the needle shape with a second order polynomial function. We found an average error of 0.54mm and a maximum error of 1.00mm in shape estimation compared to the true shape of the needle captured by the cameras for an insertion depth of 70mm.

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Design and experiment of multi-mode steering system of agricultural machinery for hilly and mountainous area

Advances in Mechanical Engineering ◽

10.1177/16878140211034827 ◽

2021 ◽

Vol 13 (7) ◽

pp. 168781402110348

Author(s):

Kai Hu ◽

Wenyi Zhang

Keyword(s):

Negative Impact ◽

System Development ◽

Coupling Model ◽

Maximum Error ◽

Rear Wheel ◽

Steering System ◽

Mountainous Area ◽

Agricultural Machinery ◽

Hydraulic Cylinders ◽

Multi Mode

In order to improve the steering flexibility of agricultural machinery in hilly and mountainous areas, a multi-mode steering system with front wheel steering, rear wheel steering, and four-wheel steering has been developed. The hydraulic steering system based on load sensitivity principle and proportion-integration-differentiation (PID) controlling algorithm was designed, which overcomes the negative impact of external load changes on flow control accuracy. The mechanical-hydraulic-controlling coupling model established in the AMESim and the sequential quadratic combinatorial optimization algorithm (SQCOA) was adopted to obtain the optimal combination of PID parameters. The simulation results demonstrate that the parameters such as pressure, speed, displacement of hydraulic cylinders, etc. in different steering modes meet the design requirements. To examine and verify the system performance, the test platform was researched and developed for conducting steering radius and displacement measurement. The experimental data illustrated that the front and rear hydraulic cylinders have good synchronization accuracy in four-wheel steering mode, and the fast switch of steering mode can be realized. The maximum error rate of is steering radius 4.21% and 3.77%, respectively, in two-wheel steering and four-wheel steering modes. The research methods and conclusions can provide a theoretical basis and reference for the other steering system development.

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Mechanics-Based Interactive Modeling for Medical Flexible Needle Insertion in Consideration of Nonlinear Factors

Journal of Computational and Nonlinear Dynamics ◽

10.1115/1.4030747 ◽

2016 ◽

Vol 11 (1) ◽

Cited By ~ 5

Author(s):

Shan Jiang ◽

Xingji Wang

Keyword(s):

Soft Tissue ◽

Kinematic Model ◽

Needle Insertion ◽

Winkler Foundation ◽

Nonlinear Characteristics ◽

Deformation Control ◽

Needle Deflection ◽

Iteration Cycle ◽

Foundation Model ◽

Sensitivity Studies

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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