Towards human-controlled, real-time shape sensing based flexible needle steering for MRI-guided percutaneous therapies.
Towards human-controlled, real-time shape sensing based flexible needle steering for MRI-guided percutaneous therapies.
复制标题
面向 MRI 引导经皮治疗的人为控制、基于形状传感的灵活针转向
DOI：
10.1002/rcs.1762
复制
发表时间：
2017-06
影响因子：
2.5
通讯作者：
Iordachita, Iulian
中科院分区：
文献类型：
--
作者：
Li, Meng;Li, Gang;Gonenc, Berk;Duan, Xingguang;Iordachita, Iulian
准确地将针置入软组织对于经皮前列腺癌的诊断和治疗过程至关重要。本文讨论了带有三组光纤布拉格光栅 (FBG) 传感器的 20 号 (G) FBG 集成针的转向。介绍了四阶多项式形状重构方法并与以前的方法进行了比较。为了控制针，开发了一种基于自行车模型的导航方法，为临床医生提供视觉引导线。提出了一种用于不均匀组织内针转向的实时模型更新方法。进行了一系列实验来评估所提出的针形状重建、视觉引导和实时模型更新方法。靶向实验在软塑料模型和体外组织中进行，插入深度范围在 90 至 120 毫米之间。根据获取的相机图像计算的平均目标误差在均质塑料模型中为 0.40 ± 0.35 mm，在多层塑料模型中为 0.61 ± 0.45 mm，在离体组织中为 0.69 ± 0.25 mm。结果证实了本工作中开发的针形状重建和视觉引导方法的可行性和准确性。用于多层体模研究的方法可以促进在真实的不均匀组织中准确的针放置工作。
Accurate needle placement into soft tissue is essential to percutaneous prostate cancer diagnosis and treatment procedures. This paper discusses the steering of a 20 gauge (G) FBG-integrated needle with three sets of Fiber Bragg Grating (FBG) sensors. A fourth-order polynomial shape reconstruction method is introduced and compared with previous approaches. To control the needle, a bicycle model based navigation method is developed to provide visual guidance lines for clinicians. A real-time model updating method is proposed for needle steering inside inhomogeneous tissue. A series of experiments were performed to evaluate the proposed needle shape reconstruction, visual guidance and real-time model updating methods. Targeting experiments were performed in soft plastic phantoms and in vitro tissues with insertion depths ranging between 90 and 120 mm. Average targeting errors calculated based upon the acquired camera images were 0.40 ± 0.35 mm in homogeneous plastic phantoms, 0.61 ± 0.45 mm in multilayer plastic phantoms and 0.69 ± 0.25 mm in ex vivo tissue. Results endorse the feasibility and accuracy of the needle shape reconstruction and visual guidance methods developed in this work. The approach implemented for the multilayer phantom study could facilitate accurate needle placement efforts in real inhomogeneous tissues.
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DOI：
10.1109/tbme.2013.2283501
发表时间：
2014-02
期刊：
IEEE transactions on bio-medical engineering
影响因子：
--
作者：
He X;Handa J;Gehlbach P;Taylor R;Iordachita I
通讯作者：
Iordachita I
影响因子：
6.4
作者：
Roesthuis, Roy J.;Kemp, Marco;Misra, Sarthak
通讯作者：
Misra, Sarthak
影响因子：
254.7
作者：
Siegel, Rebecca;Ma, Jiemin;Jemal, Ahmedin
通讯作者：
Jemal, Ahmedin
影响因子：
4.8
作者：
Fichtinger, G;DeWeese, TL;Stoianovici, D
通讯作者：
Stoianovici, D
影响因子：
10.9
作者：
Fichtinger, Gabor;Fiene, Jonathan P.;Kazanzides, Peter
通讯作者：
Kazanzides, Peter