Laser Doppler sensing for blood vessel detection with a biologically inspired steerable needle
File(s)laser-doppler-sensing-Affiliation Changed.pdf (1.43 MB)
Accepted version
Author(s)
Virdyawan, V
Rodriguez y Baena, Ferdinando
Oldfield, Matthew
Type
Journal Article
Abstract
Puncturing blood vessels during percutaneous intervention in minimally invasive brain surgery can be a life threatening complication. Embedding a forward looking sensor in a rigid needle has been proposed to tackle this problem but, when using a rigid needle, the procedure needs to be interrupted and the needle extracted if a vessel is detected. As an alternative, we propose a novel optical method to detect a vessel in front of a steerable needle. The needle itself is based on a biomimetic, multi-segment design featuring four hollow working channels. Initially, a laser Doppler flowmetry probe is characterized in a tissue phantom with optical properties mimicking those of human gray matter. Experiments are performed to show that the probe has a 2.1 mm penetration depth and a 1 mm off-axis detection range for a blood vessel phantom with 5 mm/s flow velocity. This outcome demonstrates that the probe fulfills the minimum requirements for it to be used in conjunction with our needle. A pair of Doppler probes is then embedded in two of the four working channels of the needle and vessel reconstruction is performed using successive measurements to determine the depth and the off-axis position of the vessel from each laser Doppler probe. The off-axis position from each Doppler probe is then used to generate a "detection circle" per probe, and vessel orientation is predicted using tangent lines between the two. The vessel reconstruction has a depth Root Mean Square Error (RMSE) of 0.3 mm and an RMSE of 15° in the angular prediction, showing real promise for a future clinical application of this detection system.
Date Issued
2018-02-16
Date Acceptance
2018-01-11
Citation
Bioinspiration and Biomimetics, 2018, 13 (12)
ISSN
1748-3182
Publisher
IOP Publishing
Journal / Book Title
Bioinspiration and Biomimetics
Volume
13
Issue
12
Copyright Statement
© 2018 IOP Publishing Ltd. This is an author-created, un-copyedited version of an article accepted for publication in [insert name of journal]. IOP Publishing Ltd is not responsible for any errors or omissions in this version of the manuscript or any version derived from it. The definitive publisher authenticated version is available online at http://iopscience.iop.org/article/10.1088/1748-3190/aaa6f4/meta
Sponsor
Commission of the European Communities
Commission of the European Communities
Grant Number
258642
688279
Subjects
Science & Technology
Technology
Engineering, Multidisciplinary
Materials Science, Biomaterials
Robotics
Engineering
Materials Science
laser Doppler
blood vessel detection
biologically inspired steerable needle
DEEP BRAIN-STIMULATION
SOFT-TISSUE
SURGERY
DESIGN
BIOPSY
PROBE
NEURONAVIGATION
COMPLICATIONS
FLOWMETRY
MORBIDITY
Biologically Inspired Steerable Needle
Blood Vessel Detection
Laser Doppler
02 Physical Sciences
06 Biological Sciences
09 Engineering
Physiology
Publication Status
Published
Article Number
026009