In vivo motion and force measurement of surgical needle intervention during prostate brachytherapy
In vivo motion and force measurement of surgical needle intervention during prostate brachytherapy
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DOI：
10.1118/1.2218061
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发表时间：
2006-08-01
期刊：
影响因子：
3.8
通讯作者：
Yu, Yan
中科院分区：
文献类型：
--
作者：
Podder, Tarun;Clark, Douglas;Yu, Yan
在本文中，我们提出了实际近距离放射治疗针插入过程中测量的针插入力和运动轨迹，同时在20个不同患者的前列腺中植入放射性粒子。使用超声图像和6自由度基于电磁的位置传感器捕获针运动。根据位置信息和相应的时间戳计算针速度。根据体内数据，我们发现17号（1.47 mm）和18号（1.27 mm）针的最大针插入力分别约为15.6和8.9 N。插入力的这种差异部分是由于针尺寸差异（17 G和18 G），另一部分是由于个体患者特有的组织特性差异。观察到一些横向力，这归因于几个因素，如组织异质性、器官运动、手术中的人为因素以及模板和针之间的相互作用。然而，这些插入力是导致针偏离期望轨迹和目标移动的主要原因。因此，针和调制速度（平移和旋转）的适当选择可以通过减小插入力来减小组织变形和目标移动，从而提高种子递送精度。从这项研究中收集到的知识不仅可以用于设计机械/机器人系统，还可以用于开发前列腺的预测变形模型和针的实时自适应控制。(C)2006年美国医学物理学家协会。
In this paper, we present needle insertion forces and motion trajectories measured during actual brachytherapy needle insertion while implanting radioactive seeds in the prostate glands of 20 different patients. The needle motion was captured using ultrasound images and a 6 degree-of-freedom electromagnetic-based position sensor. Needle velocity was computed from the position information and the corresponding time stamps. From in vivo data we found the maximum needle insertion forces to be about 15.6 and 8.9 N for 17 gauge (1.47 mm) and 18 gauge (1.27 mm) needles, respectively. Part of this difference in insertion forces is due to the needle size difference (17G and 18G) and the other part is due to the difference in tissue properties that are specific to the individual patient. Some transverse forces were observed, which are attributed to several factors such as tissue heterogeneity, organ movement, human factors in surgery, and the interaction between the template and the needle. However, theses insertion forces are significantly responsible for needle deviation from the desired trajectory and target movement. Therefore, a proper selection of needle and modulated velocity (translational and rotational) may reduce the tissue deformation and target movement by reducing insertion forces and thereby improve the seed delivery accuracy. The knowledge gleaned from this study promises to be useful for not only designing mechanical/robotic systems but also developing a predictive deformation model of the prostate and real-time adaptive controlling of the needle. (C) 2006 American Association of Physicists in Medicine.