Behavior of Tip-Steerable Needles in ex vivo and in vivo Tissue
Identifieur interne : 002548 ( Main/Exploration ); précédent : 002547; suivant : 002549Behavior 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
Affiliations:
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Le document en format XML
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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="Song, Danny Y" sort="Song, Danny Y" uniqKey="Song D" first="Danny Y." last="Song">Danny Y. Song</name>
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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>
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<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>
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