Sensorless motion planning for medical needle insertion in deformable tissues.
Sensorless motion planning for medical needle insertion in deformable tissues.
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DOI：
10.1109/titb.2008.2008393
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发表时间：
2009-03
期刊：
影响因子：
--
通讯作者：
Hsu IC
中科院分区：
文献类型：
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作者：
Alterovitz R;Goldberg KY;Pouliot J;Hsu IC
微创医疗程序，如活检，麻醉药物注射和近距离放射治疗癌症治疗需要将针插入软组织内的特定目标。这是困难的，因为针插入使周围的软组织移位和变形，导致目标在手术期间移动。为了促进这些手术的医生培训和术前规划，我们开发了一种针插入运动规划系统，该系统基于针插入可变形组织的交互式模拟和数值优化，以减少放置误差。我们描述了一个2-D的物理为基础的，动态模拟针插入，使用可变形的软组织的有限元模型和模型针切割和摩擦力沿着针轴。该仿真保证了网格modications的仿真稳定性，并在标准PC上实现了交互式实时性能。使用纹理映射，模拟提供了与医生在手术过程中看到的超声图像相当的可视化。我们使用模拟作为无传感器规划算法的一个组成部分，该算法使用数值优化来计算针插入偏移，以补偿组织变形。我们将该方法应用于永久性前列腺粒子近距离放射治疗期间的放射性粒子植入，以最大限度地减少粒子放置误差。
Minimally invasive medical procedures such as biopsies, anesthesia drug injections, and brachytherapy cancer treatments require inserting a needle to a specific target inside soft tissues. This is difficult because needle insertion displaces and deforms the surrounding soft tissues causing the target to move during the procedure. To facilitate physician training and preoperative planning for these procedures, we develop a needle insertion motion planning system based on an interactive simulation of needle insertion in deformable tissues and numerical optimization to reduce placement error. We describe a 2-D physically based, dynamic simulation of needle insertion that uses a finite-element model of deformable soft tissues and models needle cutting and frictional forces along the needle shaft. The simulation offers guarantees on simulation stability for mesh modications and achieves interactive, real-time performance on a standard PC. Using texture mapping, the simulation provides visualization comparable to ultrasound images that the physician would see during the procedure. We use the simulation as a component of a sensorless planning algorithm that uses numerical optimization to compute needle insertion offsets that compensate for tissue deformations. We apply the method to radioactive seed implantation during permanent seed prostate brachytherapy to minimize seed placement error.