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{shono_simulated_2020,

title = {Simulated accuracy assessment of small footprint body-mounted probe alignment device for MRI-guided cryotherapy of abdominal lesions},

author = {Naoyuki Shono and Brian Ninni and Franklin King and Takahisa Kato and Junichi Tokuda and Takahiro Fujimoto and Kemal Tuncali and Nobuhiko Hata},

doi = {10.1002/mp.14116},

issn = {0094-2405, 2473-4209},

year  = {2020},

date = {2020-06-01},

journal = {MEDICAL PHYSICS},

volume = {47},

number = {6},

pages = {2337–2349},

abstract = {Purpose Magnetic resonance imaging (MRI)-guided percutaneous cryotherapy of abdominal lesions, an established procedure, uses MRI to guide and monitor the cryoablation of lesions. Methods to precisely guide cryotherapy probes with a minimum amount of trial-and-error are yet to be established. To aid physicians in attaining precise probe alignment without trial-and-error, a body-mounted motorized cryotherapy-probe alignment device (BMCPAD) with motion compensation was clinically tested in this study. The study also compared the contribution of body motion and organ motion compensation to the guidance accuracy of a body-mounted probe alignment device. Methods The accuracy of guidance using the BMCPAD was prospectively measured during MRI-guided percutaneous cryotherapies before insertion of the probes. Clinical parameters including patient age, types of anesthesia, depths of the target, and organ sites of target were collected. By using MR images of the target organs and fiducial markers embedded in the BMCPAD, we retrospectively simulated the guidance accuracy with body motion compensation, organ motion compensation, and no compensation. The collected data were analyzed to test the impact of motion compensation on the guidance accuracy. Results Thirty-seven physical guidance of probes were prospectively recorded for sixteen completed cases. The accuracy of physical guidance using the BMCPAD was 13.4 +/- 11.1 mm. The simulated accuracy of guidance with body motion compensation, organ motion compensation, and no compensation was 2.4 +/- 2.9 mm, 2.2 +/- 1.6 mm, and 3.5 +/- 2.9 mm, respectively. Data analysis revealed that the body motion compensation and organ motion compensation individually impacted the improvement in the accuracy of simulated guidance. Moreover, the difference in the accuracy of guidance either by body motion compensation or organ motion compensation was not statistically significant. The major clinical parameters impacting the accuracy of guidance were the body and organ motions. Patient age, types of anesthesia, depths of the target, and organ sites of target did not influence the accuracy of guidance using BMCPAD. The magnitude of body surface movement and organ movement exhibited mutual statistical correlation. Conclusions The BMCPAD demonstrated guidance accuracy comparable to that of previously reported devices for CT-guided procedures. The analysis using simulated motion compensation revealed that body motion compensation and organ motion compensation individually impact the improvement in the accuracy of device-guided cryotherapy probe alignment. Considering the correlation between body and organ movements, we also determined that body motion compensation using the ring fiducial markers in the BMCPAD can be solely used to address both body and organ motions in MRI-guided cryotherapy.},

note = {Num Pages: 13 

Place: Hoboken 

Publisher: Wiley 

Web of Science ID: WOS:000521855600001},

keywords = {biopsy, Cryoablation, feasibility study, hepatic tumor, LIVER-TUMORS, MICROWAVE ABLATION, MOTION MANAGEMENT, MRI-guided intervention, needle guidance, RADIOFREQUENCY ABLATION, renal tumor, RENAL TUMORS, TRACKING},

pubstate = {published},

tppubtype = {article}

}