Modeling of Needle-Tissue Interaction Using Ultrasound-Based Motion Estimation

A needle-tissue interaction model is an essential part of every needle insertion simulator. In this paper, a new experimental method for the modeling of needle-tissue interaction is presented. The method consists of measuring needle and tissue displacements with ultrasound, measuring needle base forces, and using a deformation simulation model to identify the parameters of a needle-tissue interaction model. The feasibility of this non-invasive approach was demonstrated in an experiment in which a brachytherapy needle was inserted into a prostate phantom. Ultrasound radio-frequency data and the time-domain cross-correlation method, often used in ultrasound elastography, were used to generate the tissue displacement field during needle insertion. A three-parameter force density model was assumed for the needle-tissue interaction. With the needle displacement, tissue displacement and needle base forces as input data, finite element simulations were carried out to adjust the model parameters to achieve a good fit between simulated and measured data.

[1]  Septimiu E. Salcudean,et al.  Motion Estimation in Ultrasound Images Using Time Domain Cross Correlation With Prior Estimates , 2006, IEEE Transactions on Biomedical Engineering.

[2]  R. Taschereau,et al.  Seed misplacement and stabilizing needles in transperineal permanent prostate implants. , 2000, Radiotherapy and oncology : journal of the European Society for Therapeutic Radiology and Oncology.

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

[4]  Ron Kikinis,et al.  Medical Image Computing and Computer-Assisted Intervention — MICCAI 2002 , 2002, Lecture Notes in Computer Science.

[5]  Kenneth Y. Goldberg,et al.  Needle insertion and radioactive seed implantation in human tissues: simulation and sensitivity analysis , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[6]  Tarun Kanti Podder,et al.  Needle Insertion Force Estimation Model using Procedure-specific and Patient-specific Criteria , 2006, 2006 International Conference of the IEEE Engineering in Medicine and Biology Society.

[7]  R. Zahiri-Azar,et al.  P1A-3 Real-Time Estimation of Lateral Displacement Using Time Domain Cross Correlation with Prior Estimates , 2006, 2006 IEEE Ultrasonics Symposium.

[8]  Allison M. Okamura,et al.  A Velocity-Dependent Model for Needle Insertion in Soft Tissue , 2005, MICCAI.

[9]  Jaydev P. Desai,et al.  Reality-based needle insertion simulation for haptic feedback in prostate brachytherapy , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[10]  Orcun Goksel,et al.  3D simulation of needle-tissue interaction with application to prostate brachytherapy , 2006, Computer aided surgery : official journal of the International Society for Computer Aided Surgery.

[11]  Guido Gerig,et al.  Medical Image Computing and Computer-Assisted Intervention - MICCAI 2005, 8th International Conference, Palm Springs, CA, USA, October 26-29, 2005, Proceedings, Part I , 2005, MICCAI.

[12]  J. Battermann,et al.  Measurement of prostate rotation during insertion of needles for brachytherapy. , 2005, Radiotherapy and oncology : journal of the European Society for Therapeutic Radiology and Oncology.

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

[14]  Allison M. Okamura,et al.  Measurement of the Tip and Friction Force Acting on a Needle during Penetration , 2002, MICCAI.