Imperial College London
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ProfessorFerdinandoRodriguez y Baena

Faculty of Engineering, Department of Mechanical Engineering

Co-Director of Hamlyn Centre, Professor of Medical Robotics
 
 
 
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Contact

 

+44 (0)20 7594 7046f.rodriguez Website

 
 
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Location

 

B415CBessemer BuildingSouth Kensington Campus

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Summary

 

Publications

Citation

BibTex format

@inproceedings{Virdyawan:2019:10.1109/IROS.2018.8594198,
author = {Virdyawan, V and Rodriguez, y Baena F},
doi = {10.1109/IROS.2018.8594198},
publisher = {IEEE},
title = {Vessel pose estimation for obstacle avoidance in needle steering surgery using multiple forward looking sensors},
url = {http://dx.doi.org/10.1109/IROS.2018.8594198},
year = {2019}
}
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RIS format (EndNote, RefMan)

TY  - CPAPER
AB  - During percutaneous interventions in the brain, puncturing a vessel can cause life-threatening complications. To avoid such a risk, current research has been directed towards the development of steerable needles. However, there is a risk that vessels of a size which is close to or smaller than the resolution of commonly used preoperative imaging modalities (0.59 x 0.59 x 1 mm) would not be detected during procedure planning, with a consequent increase in risk to the patient. In this work, we present a novel ensemble of forward-looking sensors based on laser Doppler flowmetry, which are embedded within a biologically inspired steerable needle to enable vessel detection during the insertion process. Four Doppler signals are used to classify the pose of a vessel in front of the advancing needle with a  high degree of accuracy (2$^{\circ}$ and 0.1 mm RMS errors), where relative measurements between sensors are used to correct for ambiguity. By using a robotic-assisted needle insertion process, and thus a precisely controlled insertion speed, we also demonstrate how the setup can be used to discriminate between tissue bulk motion and vessel motion. In doing so, we describe a sensing apparatus applicable to a variety of needle steering systems, with the potential to eliminate the risk of haemorrhage during percutaneous procedures.
AU  - Virdyawan,V
AU  - Rodriguez,y Baena F
DO  - 10.1109/IROS.2018.8594198
PB  - IEEE
PY  - 2019///
TI  - Vessel pose estimation for obstacle avoidance in needle steering surgery using multiple forward looking sensors
UR  - http://dx.doi.org/10.1109/IROS.2018.8594198
UR  - https://ieeexplore.ieee.org/document/8594198
UR  - http://hdl.handle.net/10044/1/62603
ER  -
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