Abstract
Flexible needle insertion into viscoelastic tissue is modeled in this paper with a linear beam supported by virtual springs. Using this simplified model, the forward and inverse kinematics of the needle is solved analytically, providing a way for simulation and path planning in real-time. Using the inverse kinematics, the required needle basis trajectory can be computed for any desired needle tip path. It is shown that the needle base trajectory is not unique and can be optimized to minimize lateral pressure of the needle body on the tissue. Experimental results are provided of robotically assisted insertion of flexible needle while avoiding “obstacle”.
Chapter PDF
Similar content being viewed by others
Keywords
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.
References
De Andres, J., Reina, M.A., Lopez-Garcia, A.: Risks of regional anesthesia: Role of equipment - Needle design, catheters, VII Annual. European Society of Regional Anaesthesia Congress, Geneva, September 16 -19 (1998)
DiMaio, S.P., Salcudean, S.E.: Needle Insertion Modeling and Simulation. IEEETransactions on Robotics and Automation: Special Issue on Medical Robotics (October 2003)
DiMaio, S.P., Salcudean, S.E.: Needle Steering and Model-Based Trajectory Planning. In: Proceedings of Medical Image Computing and Computer-Assisted Intervention, Montreal (2003)
Alterovitz, R., Pouliot, J., Taschereau, R., Hsu, I.J., Goldberg, K.: Sensorless Planning for Medical Needle Insertion Procedures. In: Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (October 2003)
Chohan, U., Hamdani, G.A.: Post Dural Puncture Headache. JPMA 53(8) (August 2003)
Mineta, T., Mitsui, T., Watanabe, Y., Kobayashi, S., Haga, Y., Esashi, M.: Batch fabricated flat meandering shape memory alloy actuator for active catheter. Sensors and Actuators A: Physical 88, 112–120 (2001)
Kataoka, H., Washio, T., Audette, M., Mizuhara, K.: A Model for Relatio ns betweenNeedle Deflection, Force, and Thickness on Needle Penetration. Medical Image Computing and Computer Aided Intervention, 966–974 (2001)
Simone, C.: Modeling of needle insertion forces for percutaneous therapies, M.Sc. Thesis, Johns Hopkins University (May 2002)
Fung, Y.C.: Biomechanics: Mechanics Properties of Living tissues, 2nd edn. p. 277. Springer, New York (1993)
Simaan, N., Glozman, D., Shoham, M.: Design Considerations of New Six Degrees- Of-Freedom Parallel Robots. IEEE International Conference on Robotics and Automation 2, 1327–1333 (1998)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2004 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Glozman, D., Shoham, M. (2004). Flexible Needle Steering and Optimal Trajectory Planning for Percutaneous Therapies. In: Barillot, C., Haynor, D.R., Hellier, P. (eds) Medical Image Computing and Computer-Assisted Intervention – MICCAI 2004. MICCAI 2004. Lecture Notes in Computer Science, vol 3217. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-30136-3_18
Download citation
DOI: https://doi.org/10.1007/978-3-540-30136-3_18
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-22977-3
Online ISBN: 978-3-540-30136-3
eBook Packages: Springer Book Archive