Title :
Needle steering and motion planning in soft tissues
Author :
DiMaio, Simon P. ; Salcudean, S.E.
Author_Institution :
Dept. of Electr. & Comput. Eng., Univ. of British Columbia, Vancouver, BC, Canada
fDate :
6/1/2005 12:00:00 AM
Abstract :
In this work, needle insertion into deformable tissue is formulated as a trajectory planning and control problem. A new concept of needle steering has been developed and a needle manipulation Jacobian defined using numerical needle insertion models that include needle deflection and soft tissue deformation. This concept is used in conjunction with a potential-field-based path planning technique to demonstrate needle tip placement and obstacle avoidance. Results from open loop insertion experiments are provided.
Keywords :
Jacobian matrices; biological tissues; biomechanics; deformation; patient treatment; motion planning; needle deflection; needle manipulation Jacobian; needle steering; needle tip placement; numerical needle insertion model; obstacle avoidance; potential-field-based path planning; soft tissue deformation; Biological tissues; Biopsy; Brachytherapy; Catheters; Deformable models; Jacobian matrices; Needles; Numerical models; Sampling methods; Trajectory; Flexible needle model; motion planning; needle insertion simulation; needle steering; percutaneous intervention; tissue model; trajectory planning; Animals; Biopsy, Needle; Computer Simulation; Connective Tissue; Diagnosis, Computer-Assisted; Drug Therapy, Computer-Assisted; Elasticity; Humans; Injections; Models, Biological; Movement; Needles; Physical Stimulation; Robotics; Stress, Mechanical;
Journal_Title :
Biomedical Engineering, IEEE Transactions on
DOI :
10.1109/TBME.2005.846734
