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}
}
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.
2018
Abayazid, Momen; Kato, Takahisa; Silverman, Stuart G.; Hata, Nobuhiko
Using needle orientation sensing as surrogate signal for respiratory motion estimation in percutaneous interventions Journal Article
In: INTERNATIONAL JOURNAL OF COMPUTER ASSISTED RADIOLOGY AND SURGERY, vol. 13, no. 1, pp. 125–133, 2018, ISSN: 1861-6410, 1861-6429, (Num Pages: 9 Place: Heidelberg Publisher: Springer Heidelberg Web of Science ID: WOS:000419481300013).
Abstract | Links | BibTeX | Tags: ABDOMINAL INTERVENTIONS, biopsy, INSERTION, Interventional radiology, Lung, Machine learning, Magnetic Resonance Imaging, MODEL, Motion compensation, percutaneous needle insertion, Radiotherapy, Respiratory motion, SYSTEM, TOMOGRAPHY, TRACKING, TUMOR MOTION
@article{abayazid_using_2018,
title = {Using needle orientation sensing as surrogate signal for respiratory motion estimation in percutaneous interventions},
author = {Momen Abayazid and Takahisa Kato and Stuart G. Silverman and Nobuhiko Hata},
doi = {10.1007/s11548-017-1644-z},
issn = {1861-6410, 1861-6429},
year = {2018},
date = {2018-01-01},
journal = {INTERNATIONAL JOURNAL OF COMPUTER ASSISTED RADIOLOGY AND SURGERY},
volume = {13},
number = {1},
pages = {125–133},
abstract = {Purpose To develop and evaluate an approach to estimate the respiratory-induced motion of lesions in the chest and abdomen. Materials and methods The proposed approach uses the motion of an initial reference needle inserted into a moving organ to estimate the lesion (target) displacement that is caused by respiration. The needles position is measured using an inertial measurement unit (IMU) sensor externally attached to the hub of an initially placed reference needle. Data obtained from the IMU sensor and the target motion are used to train a learning-based approach to estimate the position of the moving target. An experimental platform was designed to mimic respiratory motion of the liver. Liver motion profiles of human subjects provided inputs to the experimental platform. Variables including the insertion angle, target depth, target motion velocity and target proximity to the reference needle were evaluated by measuring the error of the estimated target position and processing time. Results The mean error of estimation of the target position ranged between 0.86 and 1.29mm. The processing maximum training and testing time was 5ms which is suitable for real-time target motion estimation using the needle position sensor. Conclusion The external motion of an initially placed reference needle inserted into a moving organ can be used as a surrogate, measurable and accessible signal to estimate in real-time the position of a moving target caused by respiration; this technique could then be used to guide the placement of subsequently inserted needles directly into the target.},
note = {Num Pages: 9
Place: Heidelberg
Publisher: Springer Heidelberg
Web of Science ID: WOS:000419481300013},
keywords = {ABDOMINAL INTERVENTIONS, biopsy, INSERTION, Interventional radiology, Lung, Machine learning, Magnetic Resonance Imaging, MODEL, Motion compensation, percutaneous needle insertion, Radiotherapy, Respiratory motion, SYSTEM, TOMOGRAPHY, TRACKING, TUMOR MOTION},
pubstate = {published},
tppubtype = {article}
}
Purpose To develop and evaluate an approach to estimate the respiratory-induced motion of lesions in the chest and abdomen. Materials and methods The proposed approach uses the motion of an initial reference needle inserted into a moving organ to estimate the lesion (target) displacement that is caused by respiration. The needles position is measured using an inertial measurement unit (IMU) sensor externally attached to the hub of an initially placed reference needle. Data obtained from the IMU sensor and the target motion are used to train a learning-based approach to estimate the position of the moving target. An experimental platform was designed to mimic respiratory motion of the liver. Liver motion profiles of human subjects provided inputs to the experimental platform. Variables including the insertion angle, target depth, target motion velocity and target proximity to the reference needle were evaluated by measuring the error of the estimated target position and processing time. Results The mean error of estimation of the target position ranged between 0.86 and 1.29mm. The processing maximum training and testing time was 5ms which is suitable for real-time target motion estimation using the needle position sensor. Conclusion The external motion of an initially placed reference needle inserted into a moving organ can be used as a surrogate, measurable and accessible signal to estimate in real-time the position of a moving target caused by respiration; this technique could then be used to guide the placement of subsequently inserted needles directly into the target.