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Needle deflection during certain minimally invasive percutaneous procedures, such as prostate biopsy or brachytherapy, is undesired and can be reduced through the use of feedback control. This letter uses a depth-dependent reduced-order three-dimensional (3-D) nonholonomic model of needle tip motion to propose a needle deflection controller that works in a surgeon-in-the-loop fashion, where the surgeon...
Prostate brachytherapy is a current technique used to treat cancerous tissue in the prostate by permanently implanting radioactive seeds through the use of long flexible needles. This paper proposes a real-time method to predict the shape of a flexible needle inserted into soft tissue using axial Transrectal Ultrasound (TRUS) image segmentation and a non-holonomic bicycle model informed via particle...
We propose a method to estimate the entire shape of a long flexible needle, suitable for a needle insertion assistant robot. This method bases its prediction on only a small segment of a needle, imaged via ultrasound, after insertion. An algorithm is developed that can segment a needle observed partially in ultrasound images and fully in camera images, returning a polynomial representation of the...
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