Abstract
This paper presents a novel handheld device for steerable needle insertions for minimally invasive percutaneous procedures. Controlled lateral deflection of over 30mm during a 100mm axial insertion is demonstrated with a 20 gauge needle. A handheld, motorized device has been built to control the direction and rate of steering according to a two-axis miniature joystick input. To facilitate interventions with this steerable needle, two methods of locating the needle and its tip using ultrasound imaging are presented. One uses needle tip vibration for colour/power Doppler-based localization, the other is based on real-time segmentation of B-mode images.
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.
Download to read the full chapter text
Chapter PDF
References
Salcudean, S.E., Rohling, R.M., Okazawa, S.H., Ebrahimi, A.R.: US Provisional Patent Application no. 60/435,263 (December 23, 2002)
DiMaio, S.P., Salcudean, S.E.: Needle Insertion Modeling for the Interactive Simulation of Percutaneous Procedures. In: Dohi, T., Kikinis, R. (eds.) MICCAI 2002. LNCS, vol. 2489, pp. 253–260. Springer, Heidelberg (2002)
Personal communication. Morris, J. MD., B.C. Cancer Agency.
Smith, W.L., Surry, K.J.M., Mills, G.R., Downy, D.B., Fenster, A.: Three- Dimensional Ultrasound-Guided Core Needle Breast Biopsy. Ultrasound in Medicine and Biology 27(8), 1025–1034 (2001)
Stoianovici, D., Whitcomb, L., Anderson, J., Taylor, R., Kavoussi, L.: A Modular Surgical Robotic System for Image Guided Percutaneous Procedures. Medical Image Computing and Computer-Assisted Intervention, 404–410 (1998)
Cleary, K., Freedman, M., Clifford, M., Lindisch, D., Onda, S., Jiang, L.: Image- Guided Robotic Delivery System for Precise Placement of Therputic Agents. Journal of Controlled Release 74, 363–368 (2001)
Patriciu, A., Solomon, S., Kavoussi, L., Stoianovici, D.: Robotic Kidney and Spine Percutaneous Procedures Using a New Laser-Based CT Registration Method. In: Niessen, W.J., Viergever, M.A. (eds.) MICCAI 2001. LNCS, vol. 2208, pp. 249–257. Springer, Heidelberg (2001)
Wunderbaldinger, P., Helbich, T.H., Partik, B., Turetschek, K., Wolf, G.: First Experience with a New Dedicated Ultrasound System for Computer-Guided Large- Core Breast Biopsy. European Radiology 11(12), 2460–2464 (2001)
Loser, M.: A New Robotic System for Visually Controlled Percutaneous Interventions under X-ray or CT-Fluoroscopy. Dr. Ing. thesis. Univ. of Freiburg (2002)
Daum, W.: Deflectable Needle Assembly. US Patent no. 5,572,593 (June 3, 2003)
Ding, M., Cardinal, H., Guan, A., Fenster, A.: Automatic Needle Segmentation in 3D Ultrasound. In: Proceedings of SPIE: Medical Imaging, pp. 23–28 (2002)
Draper, K.J., Blake, C.C., Gowman, L., Downey, D.B., Fenster, A.: An Algorithm for Automatic Needle Localization in Ultrasound-Guided Breast Biopsies. Medical Physiscs 27(8), 1971–1979 (2000)
Charboneau, J.W., Reading, C.C., Welch, T.J.: CT and Sonographically Guided Needle Biopsy: Current Techniques and New Innovations. American Journal of Roentgenology 154, 1–10 (1990)
Powers, J.E.: Ultrasonic Imaging of Biopsy Needle. US Patent no. 5,095,910 (March 17, 1992)
Zhang, Y., Rohling, R., Pai, D.: Direct Surface Extraction from 3D Freehand Ultrasound Images. In: Proceedings of IEEE Visualization, October 27 - Novomber 1 (2002)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2003 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Ebrahimi, R., Okazawa, S., Rohling, R., Salcudean, S.E. (2003). Hand-Held Steerable Needle Device. In: Ellis, R.E., Peters, T.M. (eds) Medical Image Computing and Computer-Assisted Intervention - MICCAI 2003. MICCAI 2003. Lecture Notes in Computer Science, vol 2879. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-39903-2_28
Download citation
DOI: https://doi.org/10.1007/978-3-540-39903-2_28
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-20464-0
Online ISBN: 978-3-540-39903-2
eBook Packages: Springer Book Archive