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}
}
2022
Dominas, Christine; Bhagavatula, Sharath; Stover, Elizabeth; Deans, Kyle; Larocca, Cecilia; Colson, Yolanda; Peruzzi, Pierpaolo; Kibel, Adam; Hata, Nobuhiko; Tsai, Lillian; Hung, Yin; Packard, Robert; Jonas, Oliver
The Translational and Regulatory Development of an Implantable Microdevice for Multiple Drug Sensitivity Measurements in Cancer Patients Journal Article
In: IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING, vol. 69, no. 1, pp. 412–421, 2022, ISSN: 0018-9294, 1558-2531, (Num Pages: 10 Place: Piscataway Publisher: Ieee-Inst Electrical Electronics Engineers Inc Web of Science ID: WOS:000733943200045).
Abstract | Links | BibTeX | Tags: Animals, Biomarkers, biomaterials, Biomedical engineering, CANCER, clinical trials, drug delivery, drug discovery, Drugs, implants, In vivo, Medical treatment, Testing, Tumor Microenvironment, Tumors
@article{dominas_translational_2022,
title = {The Translational and Regulatory Development of an Implantable Microdevice for Multiple Drug Sensitivity Measurements in Cancer Patients},
author = {Christine Dominas and Sharath Bhagavatula and Elizabeth Stover and Kyle Deans and Cecilia Larocca and Yolanda Colson and Pierpaolo Peruzzi and Adam Kibel and Nobuhiko Hata and Lillian Tsai and Yin Hung and Robert Packard and Oliver Jonas},
doi = {10.1109/TBME.2021.3096126},
issn = {0018-9294, 1558-2531},
year = {2022},
date = {2022-01-01},
journal = {IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING},
volume = {69},
number = {1},
pages = {412–421},
abstract = {Objective: The purpose of this article is to report the translational process of an implantable microdevice platform with an emphasis on the technical and engineering adaptations for patient use, regulatory advances, and successful integration into clinical workflow. Methods: We developed design adaptations for implantation and retrieval, established ongoing monitoring and testing, and facilitated regulatory advances that enabled the administration and examination of a large set of cancer therapies simultaneously in individual patients. Results: Six applications for oncology studies have successfully proceeded to patient trials, with future applications in progress. Conclusion: First-in-human translation required engineering design changes to enable implantation and retrieval that fit with existing clinical workflows, a regulatory strategy that enabled both delivery and response measurement of up to 20 agents in a single patient, and establishment of novel testing and quality control processes for a drug/device combination product without clear precedents. Significance: This manuscript provides a real-world account and roadmap on how to advance from animal proof-of-concept into the clinic, confronting the question of how to use research to benefit patients.},
note = {Num Pages: 10
Place: Piscataway
Publisher: Ieee-Inst Electrical Electronics Engineers Inc
Web of Science ID: WOS:000733943200045},
keywords = {Animals, Biomarkers, biomaterials, Biomedical engineering, CANCER, clinical trials, drug delivery, drug discovery, Drugs, implants, In vivo, Medical treatment, Testing, Tumor Microenvironment, Tumors},
pubstate = {published},
tppubtype = {article}
}