1 / 12

Ultrasound-Guided Robot for Flexible Needle Steering

Ultrasound-Guided Robot for Flexible Needle Steering. David Kennedy. Background. Various clinical procedures require needle insertion: Biopsies Local Anesthesia Blood sampling Prostate brachytherapy Ablation Many done free-hand. Ultrasound System. Includes:

sydney
Download Presentation

Ultrasound-Guided Robot for Flexible Needle Steering

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. Ultrasound-Guided Robot for Flexible Needle Steering David Kennedy

  2. Background • Various clinical procedures require needle insertion: • Biopsies • Local Anesthesia • Blood sampling • Prostate brachytherapy • Ablation • Many done free-hand.

  3. Ultrasound System • Includes: • Robot designed insertion system • Image processing algorithms • Tissue stiffness system

  4. Virtual Spring Model • Needle displacement and tissue response can be modeled as virtual springs distributed along the needle.

  5. Needle Tip Detection • Image subtraction • Center of mass

  6. Tissue Stiffness System • speckle tracking algorithm • block matching algorithm • Added together create the tissue stiffness system used in the virtual spring model

  7. Controlled Needle Insertion • Tracking error can be minimized by the following control system.

  8. Experiment Setup

  9. Results • Open-loop vs. Closed-loop vs. Closed-loop with updated tissue stiffness • The closed-loop with updated tissue stiffness had the least error of a maximum 1mm. • Improvement from the free-hand range of 6-8mm.

  10. Benefits • Cut Imaging costs and radiation exposure compared to CT and MRI for brachytherapy • Improves accuracy and precision for procedures, increasing its success.

  11. Work Cited • Neubach, Z.; Shoham, M.; , "Ultrasound-Guided Robot for Flexible Needle Steering," Biomedical Engineering, IEEE Transactions on , vol.PP, no.99, pp.1-1, 0 URL:http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5223650&isnumber=4359967 [Impact Factor (2007): 1.677] • "Biopsy." Wikipedia, the free encyclopedia. Web. 21 Feb. 2010. <http://en.wikipedia.org/wiki/Biopsy>. • "Brachytherapy." Wikipedia, the free encyclopedia. Web. 21 Feb. 2010. <http://en.wikipedia.org/wiki/Brachytherapy>.

More Related