Development of an integrated needle insertion system with image guidance and deformation simulation

OBJECTIVE The purpose of our work was to develop an integrated system with image guidance and deformation simulation for the purpose of accurate needle insertion. METHODS We designed an ultrasound-guided needle insertion manipulator and physical model to simulate liver deformation. We carried out an in vivo experiment using a porcine liver to verify the effectiveness of our manipulator and model. RESULTS The results of the in vivo experiment showed that the needle insertion manipulator accurately positions the needle tip into the target. The experimental results also showed that the liver model accurately reproduces the nonlinear increase of force upon the needle during insertion. DISCUSSION Based on these results, it is suggested that the needle insertion manipulator and the physical liver model developed and validated in this work are effective for accurate needle insertion.

[1]  Yannick Tillier,et al.  Three-dimensional finite element modelling for soft tissues surgery , 2003, CARS.

[2]  Denis Laurendeau,et al.  Modelling liver tissue properties using a non-linear visco-elastic model for surgery simulation , 2005, Medical Image Anal..

[3]  K Miller,et al.  Mechanical properties of brain tissue in-vivo: experiment and computer simulation. , 2000, Journal of biomechanics.

[4]  Makoto Hashizume,et al.  Interventional navigation for abdominal therapy based on simultaneous use of MRI and ultrasound , 2006, Medical and Biological Engineering and Computing.

[5]  Ken Masamune,et al.  System for robotically assisted prostate biopsy and therapy with intraoperative CT guidance. , 2002, Academic radiology.

[6]  Nassir Navab,et al.  Robot control by fluoroscopic guidance for minimally invasive spine procedures , 2004, CARS.

[7]  Jun Okamoto,et al.  Physical properties of the liver for needle insertion control , 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566).

[8]  R Bruce,et al.  CT-integrated robot for interventional procedures: preliminary experiment and computer-human interfaces. , 2001, Computer aided surgery : official journal of the International Society for Computer Aided Surgery.

[9]  Stergios I. Roumeliotis,et al.  IEEE International Conference on Intelligent Robots and Systems , 2011, IROS 2011.

[10]  Blake Hannaford,et al.  Smart surgical tools and augmenting devices , 2003, IEEE Trans. Robotics Autom..

[11]  S Shiina,et al.  Percutaneous ethanol injection therapy for liver tumors. , 2001, European journal of ultrasound : official journal of the European Federation of Societies for Ultrasound in Medicine and Biology.

[12]  Jun Okamoto,et al.  Physical Properties of the Liver and the Development of an Intelligent Manipulator for Needle Insertion , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[13]  Septimiu E. Salcudean,et al.  Needle insertion modeling and simulation , 2003, IEEE Trans. Robotics Autom..

[14]  I. Sakuma,et al.  Combined compression and elongation experiments and non-linear modelling of liver tissue for surgical simulation , 2004, Medical and Biological Engineering and Computing.

[15]  O. Zienkiewicz,et al.  The finite element method in structural and continuum mechanics, numerical solution of problems in structural and continuum mechanics , 1967 .

[16]  J. Hong,et al.  An ultrasound-driven needle-insertion robot for percutaneous cholecystostomy. , 2004, Physics in medicine and biology.

[17]  Peter Kazanzides,et al.  Surgical and Interventional Robotics: Core Concepts, Technology, and Design. , 2008, IEEE robotics & automation magazine.

[18]  Junji Furusho,et al.  Curved multi‐tube device for path‐error correction in a needle‐insertion system , 2007, The international journal of medical robotics + computer assisted surgery : MRCAS.

[19]  Denis Laurendeau,et al.  Modelling liver tissue properties using a non-linear viscoelastic model for surgery simulation , 2002 .

[20]  Septimiu E. Salcudean,et al.  Interactive simulation of needle insertion models , 2005, IEEE Transactions on Biomedical Engineering.

[21]  Gregory S. Chirikjian,et al.  Steering flexible needles under Markov motion uncertainty , 2005, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[22]  Nassir Navab,et al.  A New Robotic System for Visually Controlled Percutaneous Inerventions under CT Fluoroscopy , 2000, MICCAI.

[23]  Peter Kazanzides,et al.  Surgical and interventional robotics: Part II , 2008, IEEE Robotics & Automation Magazine.

[24]  Peter Kazanzides,et al.  Surgical and Interventional Robotics - Core Concepts, Technology, and Design [Tutorial] , 2008, IEEE Robotics & Automation Magazine.

[25]  M.G. Fujie,et al.  Development of MRI Compatible Versatile Manipulator for Minimally Invasive Surgery , 2006, The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006. BioRob 2006..

[26]  P. Dupont,et al.  Trajectory Optimization for Dynamic Needle Insertion , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[27]  Masakatsu G. Fujie,et al.  Deformation simulation using a viscoelastic and nonlinear Organ model for control of a needle insertion manipulator , 2007, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[28]  Nele Famaey,et al.  Soft tissue modelling for applications in virtual surgery and surgical robotics , 2008, Computer methods in biomechanics and biomedical engineering.

[29]  Gabor Fichtinger,et al.  Design of a novel MRI compatible manipulator for image guided prostate interventions , 2005, IEEE Transactions on Biomedical Engineering.

[30]  Ehsan Dehghan,et al.  Needle Insertion Point and Orientation Optimization in Non-linear Tissue with Application to Brachytherapy , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[31]  Peter Kazanzides,et al.  Robotic assistance for ultrasound-guided prostate brachytherapy , 2008, Medical Image Anal..

[32]  Masakatsu G. Fujie,et al.  New real-time MR image-guided surgical robotic system for minimally invasive precision surgery , 2008, International Journal of Computer Assisted Radiology and Surgery.

[33]  Masakatsu G. Fujie,et al.  Development and validation of a viscoelastic and nonlinear liver model for needle insertion , 2008, International Journal of Computer Assisted Radiology and Surgery.

[34]  Allison M. Okamura,et al.  Planning for Steerable Bevel-tip Needle Insertion Through 2D Soft Tissue with Obstacles , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[35]  Ken Masamune,et al.  MRI Compatible Robot for Needle Placement Therapy with Accurate Registration , 2007 .

[36]  K Miller,et al.  Constitutive modelling of abdominal organs. , 2000, Journal of biomechanics.

[37]  Allison M. Okamura,et al.  Force modeling for needle insertion into soft tissue , 2004, IEEE Transactions on Biomedical Engineering.

[38]  Russell H. Taylor,et al.  Medical robotics in computer-integrated surgery , 2003, IEEE Trans. Robotics Autom..

[39]  R H Taylor,et al.  System for robotically assisted percutaneous procedures with computed tomography guidance. , 2001, Computer aided surgery : official journal of the International Society for Computer Aided Surgery.

[40]  Yoichi Hori,et al.  The Application of Fractional Order Control to Backlash Vibration Suppression , 2004 .

[41]  Masakatsu G. Fujie,et al.  A magnetic resonance compatible surgical manipulator: part of a unified support system for the diagnosis and treatment of heart disease , 2003, Adv. Robotics.

[42]  Orcun Goksel,et al.  3D Needle-Tissue Interaction Simulation for Prostate Brachytherapy , 2005, MICCAI.

[43]  Septimiu E. Salcudean,et al.  Needle insertion modelling and simulation , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[44]  Steven A Curley,et al.  Radiofrequency ablation of malignant liver tumors. , 2003, Annals of surgical oncology.

[45]  Ichiro Sakuma,et al.  In vitro Measurement of Mechanical Properties of Liver Tissue under Compression and Elongation Using a New Test Piece Holding Method with Surgical Glue , 2003, IS4TH.