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Towards MRI-guided flexible needle steering using fiber Bragg grating-based tip tracking

Moreira, P., Boskma, K. J. & Misra, S., 21-Jul-2017, ICRA 2017 - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., p. 4849-4854 6 p. 7989564. (Proceedings - IEEE International Conference on Robotics and Automation).

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  • Towards MRI-guided flexible needle steering using fiber Bragg grating-based tip tracking

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DOI

The use of magnetic resonance (MR) images for needle-based interventions offers several advantages over other types of imaging modalities (e.g., high tissue contrast and no radiation). However, MR-guided interventions face challenges related to electromagnetic compatibility of medical devices and real-time tracking of surgical instruments. This work presents a flexible needle steering system that combines an MR-compatible robot and a Fiber Bragg Grating (FBG)-based needle tip tracker. The MR images are used to localize obstacles and targets, while the FBG sensors provide strain measurements for online estimation of the needle tip position. A pre-operative planner defines the needle entry point and desired path, while a model predictive controller calculates the needle rotation during the insertion. To the best of the authors knowledge, this is the first work that fuses MR images and FBG-based tracking to steer a flexible needle in closed-loop inside the MR bore. The system is validated by steering a bevel-tipped flexible needle towards a physical target in gelatin phantoms and biological tissues. The needle reaches the target in all trials with an average targeting error of 2.76 mm. Disregarding the target displacement during the insertion, the average targeting error drops to 1.74 mm. The preliminary results demonstrate the feasibility of combining MR images and FBG-based needle tip tracking to steer a flexible needle in clinical procedures. In order to move towards to a clinically-relevant application, the design of a flexible Nitinol biopsy needle is also presented and evaluated by experiments in a prostate of a bull. The flexible needle presented a curvature 2.5 times larger than a conventional biopsy needle while maintaining the ability to collect tissue samples.

Original languageEnglish
Title of host publicationICRA 2017 - IEEE International Conference on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4849-4854
Number of pages6
ISBN (Electronic)9781509046331
Publication statusPublished - 21-Jul-2017
Event2017 IEEE International Conference on Robotics and Automation, ICRA 2017 - Singapore, Singapore
Duration: 29-May-20173-Jun-2017

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2017 IEEE International Conference on Robotics and Automation, ICRA 2017
CountrySingapore
CitySingapore
Period29/05/201703/06/2017

Event

2017 IEEE International Conference on Robotics and Automation, ICRA 2017

29/05/201703/06/2017

Singapore, Singapore

Event: Conference

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