Robotically steering needles using biomechanical models and ultrasound-guided control
Manual percutaneous insertion of rigid needles is commonly performed during minimally invasive surgery (MIS). These needles often deviate from their intended paths due to organ deformation, tissue inhomogeneity, anatomical obstructions, and physiological processes. Inaccurate needle placement may result in ineffective treatment, misdiagnosis, or traumatic effects due to medical complications.
To mitigate such targeting errors, my goal is to design a robotic system for accurately steering flexible needles through tissue. There are several challenges inherent to this research:
* The rupture of soft tissue by needles is not well understood. The effects of system variables (control inputs, friction, needle and tissue properties, etc.) on the needle path are unknown.
* Three-dimensional (3D) biomechanical models describing the evolving shape of a needle surrounded by tissue are not available.
* The real-time tracking and control of flexible needles using 3D ultrasound images has not been attempted.
* A system for accurately steering needles that integrates pre-operative plans with image-guided intra-operative feedback control does not exist.
These research challenges will be overcome by developing 3D biomechanical needle-tissue interaction models for pre-operative planning. Intra-operative control of the flexible needle will be accomplished under 3D ultrasound guidance. A prototype robotic system that combines hardware and software components will be built, and tested on non-human biological tissues and anatomical models of the pelvic and abdominal regions.
This project will be conducted at the University of Twente and involve clinical, research, and industrial collaborations with the Radboud University Nijmegen Medical Center, Johns Hopkins University, and Demcon BV, respectively.
The knowledge gained from this research will be applicable to a range of flexible medical instruments (e.g., catheters, endoscopes). This research is strongly motivated by the medical field's existing need to further reduce the invasiveness of MIS, improve clinical outcomes, minimize patient trauma, and enable treatment of "inoperable" patients.
- J. van den Buijs, R.H. Hansen, R.G.P. Lopata, C.L. de Korte, S. Misra(2011): Predicting target displacements using ultrasound elastography and finite element modeling IEEE Transactions on Biomedical Engineering pp. 3143-3155 ISSN: 0018-9294.
- R.J. Roesthuis, Y.R.J. van Veen, A. Jahya, S. Misra(2011): Mechanics of needle-tissue interaction IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) pp. 2557-2563 ISSN: 2153-0858.
- J. op den Buijs, M. Abayazid, C.L. de Korte, S. Misra(2011): Target motion predictions for pre-operative planning during needle-based interventions International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS) pp. 5380-5385 ISSN: 1557-170X.
- S. Misra, W. Assaad(2012): Combining ultrasound-based elasticity estimation and FE models to predict 3D target displacement Medical Engineering & Physics pp. 1 to 6
- S. Misra, M. Abayazid, R.J. Roesthuis, R. Reilink(2012): Integrating deflection models and image feedback for real-time flexible needle steering IEEE Transactions on Robotics pp. 1 to 6
- S. Misra, M. Abayazid, R.J. Roesthuis, R. Reilink(2013): Integrating deflection models and image feedback for real-time flexible needle steering IEEE Transactions on Robotics pp. 542 - 553 ISSN: 1552-3098.
- S. Misra, W. Assaad(2013): Combining ultrasound-based elasticity estimation and FE models to predict 3D target displacement Medical Engineering & Physics pp. 549 - 554 ISSN: 1350-4533.
- S. Misra, M. Abayazid, G.J. Vrooijink, S. Patil, R. Alterovitz(2014): Experimental evaluation of ultrasound-guided 3D needle steering in biological tissue International Journal of Computer Assisted Radiology and Surgery (IJCARS) pp. 931-939 ISSN: 1861-6410.
- S. Misra, G.J. Vrooijink, M. Abayazid, S. Patil, R. Alterovitz(2014): Needle path planning and steering in a three-dimensional non-static environment using two-dimensional ultrasound images The International Journal of Robotics Research pp. 1361-1374 ISSN: 0278-3649.
- S. Misra, M. Abayazid, P. Moreira, N. Shahriari, S. Patil, R. Alterovitz(2014): Ultrasound-guided three-dimensional needle steering in biological tissue with curved surfaces Medical Engineering & Physics pp. 145 - 150 ISSN: 1350-4533.
- S. Misra, C. Pacchierotti, M. Abayazid, D. Prattichizzo(2014): Teleoperation of steerable flexible needles by combining kinesthetic and vibratory feedback IEEE Transactions on Haptics pp. 551 - 556 ISSN: 1939-1412.