Behavior of Tip-Steerable Needles in ex vivo and in vivo Tissue
Identifieur interne : 002086 ( Ncbi/Merge ); précédent : 002085; suivant : 002087Behavior of Tip-Steerable Needles in ex vivo and in vivo Tissue
Auteurs : Ann Majewicz ; Steven P. Marra ; Mark G. Van Vledder ; Mingde Lin ; Michael A. Choti ; Danny Y. Song ; Allison M. OkamuraSource :
- IEEE transactions on bio-medical engineering [ 0018-9294 ] ; 2012.
Abstract
Robotic needle steering is a promising technique to improve the effectiveness of needle-based clinical procedures, such as biopsies and ablation, by computer-controlled, curved insertions of needles within solid organs. In this paper, we explore the capabilities, challenges, and clinical relevance of asymmetric-tip needle steering though experiments in
Url:
DOI: 10.1109/TBME.2012.2204749
PubMed: 22711767
PubMed Central: 3448818
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and <italic>in vivo</italic>
Tissue</title>
<author><name sortKey="Majewicz, Ann" sort="Majewicz, Ann" uniqKey="Majewicz A" first="Ann" last="Majewicz">Ann Majewicz</name>
</author>
<author><name sortKey="Marra, Steven P" sort="Marra, Steven P" uniqKey="Marra S" first="Steven P." last="Marra">Steven P. Marra</name>
</author>
<author><name sortKey="Van Vledder, Mark G" sort="Van Vledder, Mark G" uniqKey="Van Vledder M" first="Mark G." last="Van Vledder">Mark G. Van Vledder</name>
</author>
<author><name sortKey="Lin, Mingde" sort="Lin, Mingde" uniqKey="Lin M" first="Mingde" last="Lin">Mingde Lin</name>
</author>
<author><name sortKey="Choti, Michael A" sort="Choti, Michael A" uniqKey="Choti M" first="Michael A." last="Choti">Michael A. Choti</name>
</author>
<author><name sortKey="Song, Danny Y" sort="Song, Danny Y" uniqKey="Song D" first="Danny Y." last="Song">Danny Y. Song</name>
</author>
<author><name sortKey="Okamura, Allison M" sort="Okamura, Allison M" uniqKey="Okamura A" first="Allison M." last="Okamura">Allison M. Okamura</name>
</author>
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<sourceDesc><biblStruct><analytic><title xml:lang="en" level="a" type="main">Behavior of Tip-Steerable Needles in <italic>ex vivo</italic>
and <italic>in vivo</italic>
Tissue</title>
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<author><name sortKey="Marra, Steven P" sort="Marra, Steven P" uniqKey="Marra S" first="Steven P." last="Marra">Steven P. Marra</name>
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<author><name sortKey="Van Vledder, Mark G" sort="Van Vledder, Mark G" uniqKey="Van Vledder M" first="Mark G." last="Van Vledder">Mark G. Van Vledder</name>
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<author><name sortKey="Lin, Mingde" sort="Lin, Mingde" uniqKey="Lin M" first="Mingde" last="Lin">Mingde Lin</name>
</author>
<author><name sortKey="Choti, Michael A" sort="Choti, Michael A" uniqKey="Choti M" first="Michael A." last="Choti">Michael A. Choti</name>
</author>
<author><name sortKey="Song, Danny Y" sort="Song, Danny Y" uniqKey="Song D" first="Danny Y." last="Song">Danny Y. Song</name>
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<author><name sortKey="Okamura, Allison M" sort="Okamura, Allison M" uniqKey="Okamura A" first="Allison M." last="Okamura">Allison M. Okamura</name>
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<series><title level="j">IEEE transactions on bio-medical engineering</title>
<idno type="ISSN">0018-9294</idno>
<idno type="eISSN">1558-2531</idno>
<imprint><date when="2012">2012</date>
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<front><div type="abstract" xml:lang="en"><p id="P1">Robotic needle steering is a promising technique to improve the effectiveness of needle-based clinical procedures, such as biopsies and ablation, by computer-controlled, curved insertions of needles within solid organs. In this paper, we explore the capabilities, challenges, and clinical relevance of asymmetric-tip needle steering though experiments in <italic>ex vivo</italic>
and <italic>in vivo</italic>
tissue. We evaluate the repeatability of needle insertion in inhomogeneous biological tissue and compare <italic>ex vivo</italic>
and <italic>in vivo</italic>
needle curvature and insertion forces. Steerable needles curved more in kidney than in liver and prostate, likely due to differences in tissue properties. Pre-bent needles produced higher insertion forces in liver and more curvature <italic>in vivo</italic>
than <italic>ex vivo</italic>
. When compared to straight stainless steel needles, steerable needles did not cause a measurable increase in tissue damage and did not exert more force during insertion. The minimum radius of curvature achieved by pre-bent needles was 5.23 cm in <italic>ex vivo</italic>
tissue, and 10.4 cm in <italic>in vivo</italic>
tissue. The curvatures achieved by bevel tip needles were negligible for <italic>in vivo</italic>
tissue. The minimum radius of curvature for bevel tip needles in <italic>ex vivo</italic>
tissue was 16.4 cm; however, about half of the bevel tip needles had negligible curvatures. We also demonstrate a potential clinical application of needle steering by targeting and ablating overlapping regions of cadaveric canine liver.</p>
</div>
</front>
</TEI>
<pmc article-type="research-article"><pmc-comment>The publisher of this article does not allow downloading of the full text in XML form.</pmc-comment>
<pmc-dir>properties manuscript</pmc-dir>
<front><journal-meta><journal-id journal-id-type="nlm-journal-id">0012737</journal-id>
<journal-id journal-id-type="pubmed-jr-id">4157</journal-id>
<journal-id journal-id-type="nlm-ta">IEEE Trans Biomed Eng</journal-id>
<journal-id journal-id-type="iso-abbrev">IEEE Trans Biomed Eng</journal-id>
<journal-title-group><journal-title>IEEE transactions on bio-medical engineering</journal-title>
</journal-title-group>
<issn pub-type="ppub">0018-9294</issn>
<issn pub-type="epub">1558-2531</issn>
</journal-meta>
<article-meta><article-id pub-id-type="pmid">22711767</article-id>
<article-id pub-id-type="pmc">3448818</article-id>
<article-id pub-id-type="doi">10.1109/TBME.2012.2204749</article-id>
<article-id pub-id-type="manuscript">NIHMS401629</article-id>
<article-categories><subj-group subj-group-type="heading"><subject>Article</subject>
</subj-group>
</article-categories>
<title-group><article-title>Behavior of Tip-Steerable Needles in <italic>ex vivo</italic>
and <italic>in vivo</italic>
Tissue</article-title>
</title-group>
<contrib-group><contrib contrib-type="author"><name><surname>Majewicz</surname>
<given-names>Ann</given-names>
</name>
<aff id="A1">Department of Mechanical Engineering, Stanford University, Stanford, CA 94305 USA</aff>
<email>amajewi1@stanford.edu</email>
</contrib>
<contrib contrib-type="author"><name><surname>Marra</surname>
<given-names>Steven P.</given-names>
</name>
<aff id="A2">Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD 21218 USA</aff>
<email>marra@jhu.edu</email>
</contrib>
<contrib contrib-type="author"><name><surname>van Vledder</surname>
<given-names>Mark G.</given-names>
</name>
<aff id="A3">Now with the Department of Surgery, Erasmus Medical Center, Rotterdam, 3015 CE, The Netherlands</aff>
<email>M.vanvledder@erasmusmc.nl</email>
</contrib>
<contrib contrib-type="author"><name><surname>Lin</surname>
<given-names>MingDe</given-names>
</name>
<aff id="A4">Clinical Site Researcher with Interventional Guidance Technology, Philips Research North America, Briarcliff, NY 10510 USA</aff>
<email>Ming.Lin@philips.com</email>
</contrib>
<contrib contrib-type="author"><name><surname>Choti</surname>
<given-names>Michael A.</given-names>
</name>
<aff id="A5">Department of Surgery, Surgical Oncology Division, Johns Hopkins Medical Institutions, Baltimore, MD 21287 USA</aff>
<email>mchoti@jhmi.edu</email>
</contrib>
<contrib contrib-type="author"><name><surname>Song</surname>
<given-names>Danny Y.</given-names>
</name>
<aff id="A6">Departments of Radiation Oncology, Urology, and Oncology, Johns Hopkins Medical Institutions, Baltimore, MD 21287 USA</aff>
<email>dsong2@jhmi.edu</email>
</contrib>
<contrib contrib-type="author"><name><surname>Okamura</surname>
<given-names>Allison M.</given-names>
</name>
<aff id="A7">Department of Mechanical Engineering, Stanford University, Stanford, CA 94305 USA</aff>
<email>aokamura@stanford.edu</email>
</contrib>
</contrib-group>
<pub-date pub-type="nihms-submitted"><day>21</day>
<month>8</month>
<year>2012</year>
</pub-date>
<pub-date pub-type="epub"><day>13</day>
<month>6</month>
<year>2012</year>
</pub-date>
<pub-date pub-type="ppub"><month>10</month>
<year>2012</year>
</pub-date>
<pub-date pub-type="pmc-release"><day>01</day>
<month>9</month>
<year>2013</year>
</pub-date>
<volume>59</volume>
<issue>10</issue>
<fpage>2705</fpage>
<lpage>2715</lpage>
<permissions><copyright-statement>Copyright (c) 2011 IEEE.</copyright-statement>
<copyright-year>2011</copyright-year>
</permissions>
<abstract><p id="P1">Robotic needle steering is a promising technique to improve the effectiveness of needle-based clinical procedures, such as biopsies and ablation, by computer-controlled, curved insertions of needles within solid organs. In this paper, we explore the capabilities, challenges, and clinical relevance of asymmetric-tip needle steering though experiments in <italic>ex vivo</italic>
and <italic>in vivo</italic>
tissue. We evaluate the repeatability of needle insertion in inhomogeneous biological tissue and compare <italic>ex vivo</italic>
and <italic>in vivo</italic>
needle curvature and insertion forces. Steerable needles curved more in kidney than in liver and prostate, likely due to differences in tissue properties. Pre-bent needles produced higher insertion forces in liver and more curvature <italic>in vivo</italic>
than <italic>ex vivo</italic>
. When compared to straight stainless steel needles, steerable needles did not cause a measurable increase in tissue damage and did not exert more force during insertion. The minimum radius of curvature achieved by pre-bent needles was 5.23 cm in <italic>ex vivo</italic>
tissue, and 10.4 cm in <italic>in vivo</italic>
tissue. The curvatures achieved by bevel tip needles were negligible for <italic>in vivo</italic>
tissue. The minimum radius of curvature for bevel tip needles in <italic>ex vivo</italic>
tissue was 16.4 cm; however, about half of the bevel tip needles had negligible curvatures. We also demonstrate a potential clinical application of needle steering by targeting and ablating overlapping regions of cadaveric canine liver.</p>
</abstract>
<funding-group><award-group><funding-source country="United States">National Institute of Biomedical Imaging and Bioengineering : NIBIB</funding-source>
<award-id>R01 EB006435 || EB</award-id>
</award-group>
</funding-group>
</article-meta>
</front>
</pmc>
<affiliations><list></list>
<tree><noCountry><name sortKey="Choti, Michael A" sort="Choti, Michael A" uniqKey="Choti M" first="Michael A." last="Choti">Michael A. Choti</name>
<name sortKey="Lin, Mingde" sort="Lin, Mingde" uniqKey="Lin M" first="Mingde" last="Lin">Mingde Lin</name>
<name sortKey="Majewicz, Ann" sort="Majewicz, Ann" uniqKey="Majewicz A" first="Ann" last="Majewicz">Ann Majewicz</name>
<name sortKey="Marra, Steven P" sort="Marra, Steven P" uniqKey="Marra S" first="Steven P." last="Marra">Steven P. Marra</name>
<name sortKey="Okamura, Allison M" sort="Okamura, Allison M" uniqKey="Okamura A" first="Allison M." last="Okamura">Allison M. Okamura</name>
<name sortKey="Song, Danny Y" sort="Song, Danny Y" uniqKey="Song D" first="Danny Y." last="Song">Danny Y. Song</name>
<name sortKey="Van Vledder, Mark G" sort="Van Vledder, Mark G" uniqKey="Van Vledder M" first="Mark G." last="Van Vledder">Mark G. Van Vledder</name>
</noCountry>
</tree>
</affiliations>
</record>
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