Publications

@article{bernardes_data-driven_2023,

title = {Data-driven adaptive needle insertion assist for transperineal prostate interventions},

author = {Mariana C. Bernardes and Pedro Moreira and Lisa Mareschal and Clare Tempany and Kemal Tuncali and Nobuhiko Hata and Junichi Tokuda},

doi = {10.1088/1361-6560/accefa},

issn = {0031-9155, 1361-6560},

year  = {2023},

date = {2023-05-01},

journal = {PHYSICS IN MEDICINE AND BIOLOGY},

volume = {68},

number = {10},

pages = {105016},

abstract = {Objective. Clinical outcomes of transperineal prostate interventions, such as biopsy, thermal ablations, and brachytherapy, depend on accurate needle placement for effectiveness. However, the accurate placement of a long needle, typically 150-200 mm in length, is challenging due to needle deviation induced by needle-tissue interaction. While several approaches for needle trajectory correction have been studied, many of them do not translate well to practical applications due to the use of specialized needles not yet approved for clinical use, or to relying on needle-tissue models that need to be tailored to individual patients. Approach. In this paper, we present a robot-assisted collaborative needle insertion method that only requires an actuated passive needle guide and a conventional needle. The method is designed to assist a physician inserting a needle manually through a needle guide. If the needle is deviated from the intended path, actuators shifts the needle radially in order to steer the needle trajectory and compensate for needle deviation adaptively. The needle guide is controlled by a new data-driven algorithm which does not require a priori information about needle or tissue properties. The method was evaluated in experiments with both in vitro and ex vivo phantoms. Main results. The experiments in ex vivo tissue reported a mean final placement error of 0.36 mm with a reduction of 96.25% of placement error when compared to insertions without the use of assistive correction. Significance. Presented results show that the proposed closed-loop formulation can be successfully used to correct needle deflection during collaborative manual insertion with potential to be easily translated into clinical application.},

note = {Num Pages: 14 

Place: Bristol 

Publisher: IoP Publishing Ltd 

Web of Science ID: WOS:000987076600001},

keywords = {biopsy, Brachytherapy, CANCER, Cryoablation, data-driven model, FEASIBILITY, Force, medical robotics, MOTION, needle insertion assist, Robot, TISSUE, transperineal prostate intervention, Ultrasound},

pubstate = {published},

tppubtype = {article}

}

@article{kato_robotized_2021,

title = {Robotized Catheter With Enhanced Distal Targeting for Peripheral Pulmonary Biopsy},

author = {Takahisa Kato and Franklin King and Kiyoshi Takagi and Nobuhiko Hata},

doi = {10.1109/TMECH.2020.3040314},

issn = {1083-4435, 1941-014X},

year  = {2021},

date = {2021-10-01},

journal = {IEEE-ASME TRANSACTIONS ON MECHATRONICS},

volume = {26},

number = {5},

pages = {2451–2461},

abstract = {Transbronchial biopsy with a lung catheter is more appealing with lower complication risks for peripheral pulmonary biopsy. The distal tips of the current lung catheters lack targeting capabilities, however, which prevents a physician from guiding the biopsy tools to lesions, especially those in a peribronchial location. In this study, we investigated if a robotized catheter could enhance distal targeting after passing through tortuous bronchi. We experimentally evaluated targeting accuracy and the spatial dispersion of targeting with attention to catheter shape constraints by utilizing the bronchi of a patient-derived lung phantom. This newly developed robotized catheter has an outer diameter of 3 mm and a total length of 800 mm and comprises two bending sections at the distal 30 mm length. With these two bending sections, the distal tip can be steered to peribronchial lesions followed by the targeting of multiple locations inside the lesion with controlled dispersion to improve opportunities for tissue sampling. In the experimental results, the targeting position error for a peribronchial lesion ranged from 4.6 +/- 1.2 to 7.2 +/- 3.3 mm (mean +/- STD) among the different shape constraints. As for the targeting dispersion, the shape constraints reduced dispersion ability by a maximum of 50% compared to straight reference constraints, while the dispersion was still larger than the expected minimum requirement of 1 mm. One-way analysis of variance concluded that targeting accuracy and targeting dispersion included a significant dependence on shape constraints (p < .05). This study demonstrates the feasibility of enhancing distal targeting with the proposed robotized catheter and found that bronchi shape constraints significantly affect targeting capability.},

note = {Num Pages: 11 

Place: Piscataway 

Publisher: Ieee-Inst Electrical Electronics Engineers Inc 

Web of Science ID: WOS:000707442500022},

keywords = {ABLATION, Bending, biopsy, Bronchoscopy, Catheters, Continuum robots, Design, Dexterous manipulators, LESIONS, Lung, lung biopsy, medical robotics, PLATFORM, REMOTE MAGNETIC NAVIGATION, robotized catheter, robots, SHAPE ESTIMATION, Surgery, SYSTEM, Tools, TRACKING},

pubstate = {published},

tppubtype = {article}

}

@article{wartenberg_closed-loop_2018,

title = {Closed-Loop Active Compensation for Needle Deflection and Target Shift During Cooperatively Controlled Robotic Needle Insertion},

author = {Marek Wartenberg and Joseph Schornak and Katie Gandomi and Paulo Carvalho and Chris Nycz and Niravkumar Patel and Iulian Iordachita and Clare Tempany and Nobuhiko Hata and Junichi Tokuda and Gregory S. Fischer},

doi = {10.1007/s10439-018-2070-2},

issn = {0090-6964, 1573-9686},

year  = {2018},

date = {2018-10-01},

journal = {ANNALS OF BIOMEDICAL ENGINEERING},

volume = {46},

number = {10},

pages = {1582–1594},

abstract = {Intra-operative imaging is sometimes available to assist needle biopsy, but typical open-loop insertion does not account for unmodeled needle deflection or target shift. Closed-loop image-guided compensation for deviation from an initial straight-line trajectory through rotational control of an asymmetric tip can reduce targeting error. Incorporating robotic closed-loop control often reduces physician interaction with the patient, but by pairing closed-loop trajectory compensation with hands-on cooperatively controlled insertion, a physician's control of the procedure can be maintained while incorporating benefits of robotic accuracy. A series of needle insertions were performed with a typical 18G needle using closed-loop active compensation under both fully autonomous and user-directed cooperative control. We demonstrated equivalent improvement in accuracy while maintaining physician-in-the-loop control with no statistically significant difference (p>0.05) in the targeting accuracy between any pair of autonomous or individual cooperative sets, with average targeting accuracy of 3.56mm(rms). With cooperatively controlled insertions and target shift between 1 and 10mm introduced upon needle contact, the system was able to effectively compensate up to the point where error approached a maximum curvature governed by bending mechanics. These results show closed-loop active compensation can enhance targeting accuracy, and that the improvement can be maintained under user directed cooperative insertion.},

note = {Num Pages: 13 

Place: New York 

Publisher: Springer 

Web of Science ID: WOS:000445180100013},

keywords = {FEEDBACK, image-guided therapy, medical robotics, MOTION, Needle steering, Teleoperation},

pubstate = {published},

tppubtype = {article}

}