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Path replanning for orientation-constrained needle steering

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Title: Path replanning for orientation-constrained needle steering
Authors: Pinzi, M
Watts, T
Secoli, R
Galvan, S
Baena, FRY
Item Type: Journal Article
Abstract: Introduction: Needle-based neurosurgical procedures require high accuracy in catheter positioning to achieve high clinical efficacy. Significant challenges for achieving accurate targeting are (i) tissue deformation (ii) clinical obstacles along the insertion path (iii) catheter control. Objective: We propose a novel path-replanner able to generate an obstacle-free and curvature bounded three-dimensional (3D) path at each time step during insertion, accounting for a constrained target pose and intraoperative anatomical deformation. Additionally, our solution is sufficiently fast to be used in a closed-loop system: needle tip tracking via electromagnetic sensors is used by the path-replanner to automatically guide the programmable bevel-tip needle (PBN) while surgical constraints on sensitive structures avoidance are met. Methods: The generated path is achieved by combining the ”Bubble Bending” method for online path deformation and a 3D extension of a convex optimisation method for path smoothing. Results: Simulation results performed on a realistic dataset show that our replanning method can guide a PBN with bounded curvature to a predefined target pose with an average targeting error of 0.65 ± 0.46 mm in position and 3.25 ± 5.23 degrees in orientation under a deformable simulated environment. The proposed algorithm was also assessed in-vitro on a brain-like gelatin phantom, achieving a target error of 1.81 ± 0.51 mm in position and 5.9 ± 1.42 degrees in orientation. Conclusion: The presented work assessed the performance of a new online steerable needle path-planner able to avoid anatomical obstacles while optimizing surgical criteria. Significance: This method is particularly suited for surgical procedures demanding high accuracy on the desired goal pose under tissue deformations and real-world inaccuracies.
Issue Date: 1-May-2021
Date of Acceptance: 16-Feb-2021
URI: http://hdl.handle.net/10044/1/92442
DOI: 10.1109/TBME.2021.3060470
ISSN: 0018-9294
Publisher: Institute of Electrical and Electronics Engineers
Start Page: 1459
End Page: 1466
Journal / Book Title: IEEE Transactions on Biomedical Engineering
Volume: 68
Issue: 5
Copyright Statement: © 2021 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Sponsor/Funder: Commission of the European Communities
Funder's Grant Number: 688279
Keywords: Science & Technology
Technology
Engineering, Biomedical
Engineering
3D control
3D steering
neurosurgery
path planning
path replanner
steerable needles
BRAIN SHIFT
3-D
MODEL
Algorithms
Computer Simulation
Equipment Design
Needles
Phantoms, Imaging
Equipment Design
Needles
Phantoms, Imaging
Algorithms
Computer Simulation
Science & Technology
Technology
Engineering, Biomedical
Engineering
3D control
3D steering
neurosurgery
path planning
path replanner
steerable needles
BRAIN SHIFT
3-D
MODEL
Biomedical Engineering
0801 Artificial Intelligence and Image Processing
0903 Biomedical Engineering
0906 Electrical and Electronic Engineering
Publication Status: Published
Online Publication Date: 2021-02-19
Appears in Collections:Mechanical Engineering
Institute of Global Health Innovation
Faculty of Engineering