Closed-loop asymmetric-tip needle steering under continuous intraoperative MRI guidance

2015 ◽  
Author(s):  
Niravkumar A. Patel ◽  
Tim van Katwijk ◽  
Gang Li ◽  
Pedro Moreira ◽  
Weijian Shang ◽  
...  
Keyword(s):  
Closed Loop ◽  
Intraoperative Mri ◽  
Needle Steering ◽  
Mri Guidance

Closed-Loop Actuated Surgical System Utilizing Real-Time In-Situ MRI Guidance

2014 ◽  
pp. 785-798 ◽  
Author(s):  
Gregory A. Cole ◽  
Kevin Harrington ◽  
Hao Su ◽  
Alex Camilo ◽  
Julie G. Pilitsis ◽  
...  
Keyword(s):  
Real Time ◽  
Closed Loop ◽  
Mri Guidance ◽  
Surgical System

scholarly journals Correlation of the extent of tumor volume resection and patient survival in surgery of glioblastoma multiforme with high-field intraoperative MRI guidance

2011 ◽  
Vol 13 (12) ◽  
pp. 1339-1348 ◽  
Author(s):  
D. Kuhnt ◽  
A. Becker ◽  
O. Ganslandt ◽  
M. Bauer ◽  
M. Buchfelder ◽  
...  
Keyword(s):  
Glioblastoma Multiforme ◽  
High Field ◽  
Tumor Volume ◽  
Patient Survival ◽  
Intraoperative Mri ◽  
Mri Guidance

scholarly journals Dynamical modeling and controllability analysis of a flexible needle in soft tissue

2014 ◽  
Vol 05 (02) ◽  
pp. 1350031 ◽  
Author(s):  
Arefeh Boroomand ◽  
Mahdi Tavakoli ◽  
Ron Sloboda ◽  
Nawaid Usmani
Keyword(s):  
Soft Tissue ◽  
Dynamic Model ◽  
Closed Loop ◽  
Control Strategies ◽  
Needle Insertion ◽  
Future Research ◽  
Needle Steering ◽  
Loop Control ◽  
Positioning Errors ◽  
Tissue System

This paper is concerned with deriving a dynamic model of a moderately flexible needle inserted into soft tissue, where the model's output is the needle deflection. The main advantages of the proposed dynamic modeling approach are that the presented model structure involves parameters that are all measurable or identifiable by simple experiments and that it considers the same inputs that are currently used in the clinical practice of manual needle insertion. Conventional manual needle insertion suffers from the fact that flexible needles bend during insertion and their trajectories often vary from those planned, resulting in positioning errors. Enhancement of needle insertion accuracy via robot-assisted needle steering has received significant attention in the past decade. A common assumption in previous research has been that the needle behavior during insertion can be adequately described by static models relating the needle's forces and torques to its deflection. For closed-loop control purposes, however, a dynamic model of the flexible needle in soft tissue is desired. In this paper, we propose a Lagrangian-based dynamic model for the coupled needle/tissue system, and analyze the response of the dynamic system. Steerability (controllability) analysis is also performed, which is only possible with a dynamic model. The proposed dynamic model can serve as a cornerstone of future research into designing dynamics-based control strategies for closed-loop needle steering in soft tissue aimed at minimizing position error.

Toward teleoperated needle steering under continuous MRI guidance for prostate percutaneous interventions

2015 ◽  
Vol 12 (3) ◽  
pp. 355-369 ◽  
Author(s):  
Reza Seifabadi ◽  
Fereshteh Aalamifar ◽  
Iulian Iordachita ◽  
Gabor Fichtinger
Keyword(s):  
Needle Steering ◽  
Percutaneous Interventions ◽  
Mri Guidance

Feasibility of Intraoperative MRI Guidance for Craniotomy and Tumor Resection in the Semisitting Position

2011 ◽  
Vol 23 (3) ◽  
pp. 241-246 ◽  
Author(s):  
Christian Senft ◽  
Bernd Schoenes ◽  
Thomas Gasser ◽  
Johannes Platz ◽  
Andrea Bink ◽  
...  
Keyword(s):  
Tumor Resection ◽  
Intraoperative Mri ◽  
Mri Guidance

scholarly journals Advanced approach for intraoperative MRI guidance and potential benefit for neurosurgical applications

2006 ◽  
Vol 24 (1) ◽  
pp. 140-151 ◽  
Author(s):  
Harald Busse ◽  
Arno Schmitgen ◽  
Christos Trantakis ◽  
Ralf Schober ◽  
Thomas Kahn ◽  
...  
Keyword(s):  
Potential Benefit ◽  
Intraoperative Mri ◽  
Mri Guidance
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