2024
Bernardes, Mariana C.; Moreira, Pedro; Lezcano, Dimitri; Foley, Lori; Tuncali, Kemal; Tempany, Clare; Kim, Jin Seob; Hata, Nobuhiko; Iordachita, Iulian; Tokuda, Junichi
In Vivo Feasibility Study: Evaluating Autonomous Data-Driven Robotic Needle Trajectory Correction in MRI-Guided Transperineal Procedures Journal Article
In: IEEE ROBOTICS AND AUTOMATION LETTERS, vol. 9, no. 10, pp. 8975–8982, 2024, ISSN: 2377-3766, (Num Pages: 8 Place: Piscataway Publisher: Ieee-Inst Electrical Electronics Engineers Inc Web of Science ID: WOS:001316210300001).
Abstract | Links | BibTeX | Tags: Accuracy, Fiber Bragg gratings, Force, In vivo, Magnetic Resonance Imaging, Medical robots and systems, needles, prostate biopsy, Robot sensing systems, robots, surgical robotics: steerable catheters/needles, TISSUE, Trajectory
@article{bernardes_vivo_2024,
title = {In Vivo Feasibility Study: Evaluating Autonomous Data-Driven Robotic Needle Trajectory Correction in MRI-Guided Transperineal Procedures},
author = {Mariana C. Bernardes and Pedro Moreira and Dimitri Lezcano and Lori Foley and Kemal Tuncali and Clare Tempany and Jin Seob Kim and Nobuhiko Hata and Iulian Iordachita and Junichi Tokuda},
doi = {10.1109/LRA.2024.3455940},
issn = {2377-3766},
year = {2024},
date = {2024-10-01},
journal = {IEEE ROBOTICS AND AUTOMATION LETTERS},
volume = {9},
number = {10},
pages = {8975–8982},
abstract = {This letter addresses the targeting challenges in MRI-guided transperineal needle placement for prostate cancer (PCa) diagnosis and treatment, a procedure where accuracy is crucial for effective outcomes. We introduce a parameter-agnostic trajectory correction approach incorporating a data-driven closed-loop strategy by radial displacement and an FBG-based shape sensing to enable autonomous needle steering. In an animal study designed to emulate clinical complexity and assess MRI compatibility through a PCa mock biopsy procedure, our approach demonstrated a significant improvement in targeting accuracy (p < 0.05), with mean target error of only 2.2 +/- 1.9 mm on first insertion attempts, without needle reinsertions. To the best of our knowledge, this work represents the first in vivo evaluation of robotic needle steering with FBG-sensor feedback, marking a significant step towards its clinical translation.},
note = {Num Pages: 8
Place: Piscataway
Publisher: Ieee-Inst Electrical Electronics Engineers Inc
Web of Science ID: WOS:001316210300001},
keywords = {Accuracy, Fiber Bragg gratings, Force, In vivo, Magnetic Resonance Imaging, Medical robots and systems, needles, prostate biopsy, Robot sensing systems, robots, surgical robotics: steerable catheters/needles, TISSUE, Trajectory},
pubstate = {published},
tppubtype = {article}
}