Error and uncertainty in needle placement can drastically impact the clinical outcome of both diagnostic and therapeutic needle-based procedures. In this work, we aim to estimate the shape of a bent needle during insertion and provide a prototype design of a needle whose deflection is tracked in real time. We calculate slope along a needle by measuring the movement of fixed wires running along its length with a compact image-based sensor. Through the use of the Euler–Bernoulli beam theory, we calculate shape and trajectory of a needle. We constructed a prototype needle with two wires fixed along its length and measured wire-movement using a vertical-cavity surface-emitting laser (VCSEL) mouse sensor. This method was able to estimate needle tip deflection within 1 mm in a variety of deflection scenarios in real time. We then provide a design of a needle with real-time deflection tracking in 3D, providing the user with a simple display to convey needle deflection in tissue. This method could be applied to needle-based biopsy or therapy procedures to improve the diagnostic accuracy or treatment delivery quality.

References

References
1.
LaRaja
,
R. D.
,
Saber
,
A. A.
, and
Sickles
,
A.
,
1999
, “
Early Experience in the Use of the Advanced Breast Biopsy Instrumentation: A Report of One Hundred Twenty-Seven Patients
,”
Surgery
,
125
(
4
), pp.
380
384
.
2.
Fadare
,
O.
,
Wang
,
S.
, and
Rajan Mariappan
,
M.
,
2004
, “
Practice Patterns of Clinicians Following Isolated Diagnoses of Atypical Small Acinar Proliferation on Prostate Biopsy Specimens
,”
Arch. Pathol. Lab. Med.
,
128
(5), pp.
557
560
.https://www.ncbi.nlm.nih.gov/pubmed/15086303
3.
Cool
,
D.
,
Sherebrin
,
S.
,
Izawa
,
J.
,
Chin
,
J.
, and
Fenster
,
A.
,
2008
, “
Design and Evaluation of a 3D Transrectal Ultrasound Prostate Biopsy System
,”
Med. Phys.
,
35
(
10
), p.
4695
4.
Abayazid
,
M.
,
Kemp
,
M.
, and
Misra
,
S.
,
2013
, “
3D Flexible Needle Steering in Soft-Tissue Phantoms Using Fiber Bragg Grating Sensors
,”
IEEE
International Conference on Robotics and Automation
, Karlsruhe, Germany, May 6–10, pp.
5843
5849
.
5.
Roesthuis
,
R. J.
,
Kemp
,
M.
,
van den Dobbelsteen
,
J. J.
, and
Misra
,
S.
,
2014
, “
Three-Dimensional Needle Shape Reconstruction Using an Array of Fiber Bragg Grating Sensors
,”
IEEE/ASME Trans. Mechatronics
,
19
(
4
), pp.
1115
1126
.
6.
van de Berg
,
N. J.
,
Dankelman
,
J.
, and
van den Dobbelsteen
,
J. J.
,
2015
, “
Design of an Actively Controlled Steerable Needle With Tendon Actuation and FBG-Based Shape Sensing
,”
Med. Eng. Phys.
,
37
(
6
), pp.
617
622
.
7.
Henken
,
K. R.
,
Dankelman
,
J.
,
van den Dobbelsteen
,
J. J.
,
Cheng
,
L. K.
, and
van der Heiden
,
M. S.
,
2014
, “
Error Analysis of FBG-Based Shape Sensors for Medical Needle Tracking
,”
IEEE/ASME Trans. Mechatronics
,
19
(
5
), pp.
1523
1531
.
8.
Moreira
,
P.
,
Boskma
,
K. J.
, and
Misra
,
S.
,
2017
, “
Towards MRI-Guided Flexible Needle Steering Using Fiber Bragg Grating-Based Tip Tracking
,”
IEEE International Conference on Robotics and Automation
(
ICRA
), Singapore, May 29–June 3, pp. 4849–4854.
9.
Park
,
Y.-L.
,
Elayaperumal
,
S.
,
Daniel
,
B.
,
Ryu
,
S. C.
,
Shin
,
M.
,
Savall
,
J.
,
Black
,
R. J.
,
Moslehi
,
B.
, and
Cutkosky
,
M. R.
,
2010
, “
Real-Time Estimation of 3-D Needle Shape and Deflection for MRI-Guided Interventions
,”
IEEE Trans. Mech.
,
15
(
6
), pp.
906
915
.
10.
Crandall
,
S. H.
,
Dahl
,
N. C.
,
Lardner
,
T. J.
, and
Sivakumar
,
M. S.
,
2012
, “
Deflections Due to Bending
,”
An Introduction to Mechanics of Solids: (in SI Units), 3e
,
Tata McGraw-Hill Education Private Limited
,
New Delhi, India
.
11.
Scali
,
M.
,
Pusch
,
T. P.
,
Breedveld
,
P.
, and
Dodou
,
D.
,
2017
, “
Needle-like Instruments for Steering Through Solid Organs: A Review of the Scientific and Patent Literature
,”
Proc. Inst. Mech. Eng., Part H
,
231
(
3
), pp.
250
265
.
12.
van de Berg
,
N. J.
,
van Gerwen
,
D. J.
,
Dankelman
,
J.
, and
van den Dobbelsteen
,
J. J.
,
2015
, “
Design Choices in Needle Steering—A Review
,”
IEEE/ASME Trans. Mechatronics
,
20
(
5
), pp.
2172
2183
.
13.
L. Kratchman
,
B.
,
Rahman
,
M. M.
,
Saunders
,
J. R.
,
Swaney
,
P. J.
, and
Webster
,
R. J.
,
2011
, “
Toward Robotic Needle Steering in Lung Biopsy: A Tendon-Actuated Approach
,”
Proc. SPIE
,
7964
, p. 79641I.
14.
Ryu
,
S. C.
,
Quek
,
Z. F.
,
Koh
,
J.-S.
,
Renaud
,
P.
,
Black
,
R. J.
,
Moslehi
,
B.
,
Daniel
,
B. L.
,
Cho
,
K.-J.
, and
Cutkosky
,
M. R.
,
2015
, “
Design of an Optically Controlled MR-Compatible Active Needle
,”
IEEE Trans. Rob.
,
31
(
1
), pp.
1
11
.
15.
Swaney
,
P. J.
,
Burgner
,
J.
,
Gilbert
,
H. B.
, and
Webster
,
R. J.
,
2013
, “
A Flexure-Based Steerable Needle: High Curvature With Reduced Tissue Damage
,”
IEEE Trans. Biomed. Eng.
,
60
(
4
), pp.
906
909
.
16.
Mathis
,
M.
,
Thompson
,
D.
,
Addis
,
B.
, and
Yankelevitz
,
D. F.
,
2015
, “
Steerable Device for Accessing a Target Site and Methods
,” U.S. Patents No.
US9125639B2
.https://patents.google.com/patent/US9125639/enIt
You do not currently have access to this content.