MR-guided HDR prostate brachytherapy with teleoperated steerable needles

Conformity of tumour volumes and dose plans in prostate brachytherapy (BT) can be constrained by unwanted needle deflections, needle access restrictions and visualisation limitations. This work validates the feasibility of teleoperated robotic control of an active steerable needle using magnetic resonance (MR) for guidance. With this system,...

Block-matching-based registration to evaluate ultrasound visibility of percutaneous needles in liver-mimicking phantoms

Purpose: To present a novel methodical approach to compare visibility of percutaneous needles in ultrasound images. Methods: A motor-driven rotation platform was used to gradually change the needle angle while capturing image data. Data analysis was automated using block-matching-based registration, with a tracking and refinement step. Every...

Steerable needles for radio-frequency ablation in cirrhotic livers

Accurate needle placement in deep-seated liver tumours can be difficult. In this work, we disclose two new manually controlled steerable needles for 17G radio-frequency ablation probe placement. The needles contain stylets with embedded compliant joints for active tip articulations, and concentric tubes for (curved-path) guidance. Needle...

Ultrasound-Guided Percutaneous Liver Biopsy: A Review on Obtaining Adequate Specimens

This literature review was conducted to evaluate liver biopsy adequacy, including total core length (TCL), number of portal tracts (PT), fragmentation, and complication rates, as a function of needle type and gauge. A systematic electronic search was performed in the Web of Science and Google Scholar databases, according to the PRISMA...

A methodical quantification of needle visibility and echogenicity in ultrasound images

During ultrasound-guided percutaneous interventions, needle localization can be a challenge. To increase needle visibility, enhancements of both the imaging methods and the needle surface properties have been investigated. However, a methodical approach to compare potential solutions is currently unavailable. The work described here involves...

Compliant joint echogenicity in ultrasound images: towards highly visible steerable needles

Radio frequency ablation is commonly used in the treatment of hepatocellular carcinoma. Clinicians rely on imaging techniques, such as medical ultrasound, to confirm an accurate needle placement. This accuracy may improve by means of active needle steering techniques, which are currently in development. Needle steering will likely increase the...

Needle placement errors: do we need steerable needles in interventional radiology?

Purpose: Accurate and precise needle placement is of utmost importance in interventional radiology. However, targeting can be challenging due to, eg, tissue motion and deformation. Steerable needles are a possible solution to overcome these challenges. The present work studied the clinical need for steerable needles. We aimed to answer three...

Endpoint accuracy in manual control of a steerable needle

Purpose<br/>To study the ability of a human operator to manually correct for errors in the needle insertion path without partial withdrawal of the needle by means of an active, tip-articulated steerable needle.<br/><br/>Materials and Methods<br/>The needle is composed of a 1.32-mm outer-diameter cannula, with a flexure joint near the tip, and a...

The influence of tip shape on bending force during needle insertion

Steering of needles involves the planning and timely modifying of instrument-tissue force interactions to allow for controlled deflections during the insertion in tissue. In this work, the effect of tip shape on these forces was studied using 10 mm diameter needle tips. Six different tips were selected, including beveled and conical versions,...

Steering an actuated-tip needle in biological tissue: Fusing FBG-sensor data and ultrasound images

Needle insertion procedures are commonly performed in current clinical practice for diagnostic and therapeutic purposes. Although prevailing technology allows accurate localization of lesions, they cannot yet be precisely targeted. Needle steering is a promising technique to overcome this challenge. In this paper, we describe the development...