Reality-Based Estimation of Needle and Soft-Tissue Interaction for Accurate Haptic Feedback in Prostate Brachytherapy Simulation

  title={Reality-Based Estimation of Needle and Soft-Tissue Interaction for Accurate Haptic Feedback in Prostate Brachytherapy Simulation},
  author={James T. Hing and Ari D. Brooks and Jaydev P. Desai},
  booktitle={International Symposium of Robotics Research},
Prostate Brachytherapy is the implantation of radioactive seeds into the prostate as a treatment for prostate cancer. The success rate of the procedure is directly related to the physician’s level of experience. In addition, minor deviations in seed alignment caused by gland compression/retraction, gland edema (swelling) and needle deflections can create significant areas of over or under dosage to the gland and/or injury to surrounding nerves and organs, leading to increased morbidity… 

Reality-based needle insertion simulation for haptic feedback in prostate brachytherapy

  • J. HingA. BrooksJ. Desai
  • Medicine, Physics
    Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.
  • 2006
X-ray images produced by a dual C-arm fluoroscope setup during a needle insertion task are utilized to obtain parameters needed for accurate modeling of soft tissue and needle interactions and a finite element model was built to model needle puncture of tissue.

Haptic Simulator for Prostate Brachytherapy with Simulated Needle and Probe Interaction

A haptic simulator for prostate brachytherapy that can be used for training, rehearsal, and treatment planning and approaches to computational acceleration for realtime haptic performance are presented.

Haptic simulation of needle and probe interaction with tissue for prostate brachytherapy training

A haptic simulator for prostate brachytherapy that allows a trainee to practice the 3D intra-operative placement of the TRUS probe for registration with the pre-operative volume study and approaches to computational acceleration for real-time haptic performance are presented.

Reality-based Haptic Feedback for Needle Puncture - Modeling, Validation, and Simulation

The dual C-Arm fluoroscopy setup allows for the real time 3-D extraction of the displacement of implanted fiducials in the soft tissue during needle insertion and validated the LEM computed from the authors' finite element model with arbitrary needle puncture tasks.

Needle Steering Modeling and Analysis using Unconstrained Modal Analysis

  • K. YanW. Ng C.W.S. Cheng
  • Engineering
    The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006. BioRob 2006.
  • 2006
A spring-beam-damper system is proposed to model the system dynamics while applying steering force on the needle end, and instead of using the traditional finite element method, unconstrained model analysis is adopted to derive the system dynamic equations.

Robotics-Assisted Needle Steering for Percutaneous Interventions: Modeling and Experiments

This research project draws on the rich literature from control and systems theory to model needle-tissue interaction and needle flexion and then design a robotics-based strategy for needle insertion/steering and the resulting solutions will directly benefit a wide range of needle-based interventions.

Flexible Needle–Tissue Interaction Modeling With Depth-Varying Mean Parameter: Preliminary Study

A spring-beam-damper model is proposed to describe the dynamics during the needle-tissue contact procedure and an online parameter estimator has been designed using the modified least-square method with a forgetting factor.

An analysis on tissue deformation during robotic biopsy needle insertion

The puncture force and tissues deformation during needle insertion in a robotic biopsy procedure and the experimental set-up used to determine tissue deformations and puncture event is presented.

Mr-compatible biopsy needle with enhanced tip force sensing

An instrumented biopsy needle that provides physicians the capability to sense interaction forces directly at the tip of the needle's inner stylet is described, which is suitable for MR-guided procedures and has increased tip sensitivity to axial forces.

Development of a new tissue-equivalent material applied to optimizing surgical accuracy.



Simulating needle insertion and radioactive seed implantation for prostate brachytherapy.

A new 2-D dynamic FEM model based on a 7-phase insertion sequence where the mesh is updated to maintain element boundaries along the needle shaft, where the locations of seed implants are predicted as the tissue deforms.

Optimizing target coverage by dosimetric feedback during prostate brachytherapy.

Modeling of needle insertion forces for robot-assisted percutaneous therapy

  • Christina SimoneA. Okamura
  • Engineering
    Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)
  • 2002
Force information from needle insertions was measured and modeled for use in robot-assisted percutaneous therapies. Data was collected on bovine livers using the Johns Hopkins University Steady Hand

Three-dimensional ultrasound-guided core needle breast biopsy.

Robotic needle insertion: effects of friction and needle geometry

Two experiments were performed to determine the effects of friction and needle geometry during robotic needle insertion into soft tissues and it was found that Coulomb friction accounts for the majority of needle force.

Multi-axis Mechanical Simulator for Epidural Needle Insertion

A novel simulator for training clinicians to insert epidural anesthesia needles incorporates physical anatomical models for palpation and provides a syringe loss-of-resistance feature to simulate entry into the epidural space.

Permanent prostate brachytherapy in men with clinically localised prostate cancer.

  • L. Potters
  • Medicine, Physics
    Clinical oncology (Royal College of Radiologists (Great Britain))
  • 2003

Needle insertion modeling and simulation

An experimental system for measuring planar tissue phantom deformation during needle insertions has been developed and is presented and a condensation technique is shown to achieve very fast interactive simulations.

A computational technique for interactive needle insertions in 3D nonlinear material

A computational method for simulating needle insertions interactively in both 2D and 3D models of soft tissue based on the Finite Element Method and uses quasi-static stick-slip friction for needle/tissue interactions.

Iodine seed prostate brachytherapy: an alternative first-line choice for early prostate cancer

The role of brachytherapy as a first-line treatment option for patients with prostate cancer is demonstrated and comparative data show the similarity of biochemical survival in patients treated with brachyTherapy, radical prostatectomy, and external beam radiotherapy.