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

@article{Pinzi:2021:10.1109/TBME.2021.3060470,
author = {Pinzi, M and Watts, T and Secoli, R and Galvan, S and Baena, FRY},
doi = {10.1109/TBME.2021.3060470},
journal = {IEEE Transactions on Biomedical Engineering},
pages = {1459--1466},
title = {Path replanning for orientation-constrained needle steering},
url = {http://dx.doi.org/10.1109/TBME.2021.3060470},
volume = {68},
year = {2021}
}
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RIS format (EndNote, RefMan)

TY  - JOUR
AB  - 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.
AU  - Pinzi,M
AU  - Watts,T
AU  - Secoli,R
AU  - Galvan,S
AU  - Baena,FRY
DO  - 10.1109/TBME.2021.3060470
EP  - 1466
PY  - 2021///
SN  - 0018-9294
SP  - 1459
TI  - Path replanning for orientation-constrained needle steering
T2  - IEEE Transactions on Biomedical Engineering
UR  - http://dx.doi.org/10.1109/TBME.2021.3060470
UR  - http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000641967300002&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=1ba7043ffcc86c417c072aa74d649202
UR  - https://ieeexplore.ieee.org/document/9359507
UR  - http://hdl.handle.net/10044/1/92442
VL  - 68
ER  -
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