Abstract -Medical procedures such as seed implantation, biopsies, and treatment injections require inserting a needle tip to a specific target location inside the human body. This is diff%ult because (1) needle insertion canses soft tissues to displace and deform, and (2) it is often difficult or impossible to obtain precise imaging data during insertion. W e are developing a sensorless planning system for needle insertion that incorporates numerical optimization with a soft lissne simulation based on a dynamic FEM formulation that models the eIleets of needle tip and frictional forces using a 2D mesh. In this paper we describe a sensorless planning algorithm for radioactive seed implantation that computes needle insertion offsets that compensate for tissue deformalions. We appIy the method to seed implantation during permanent seed prostate brachytherapy to minimize seed placement error in simulation without relying on real-time imaging.
In preoperative planning, Alterovitz et. al. chooses the needle insertion location and depth to compensate for tissue deformation, using a 2D tissue simulation and numerical optimization REF .
Sensorless planning for medical needle insertion procedures
Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)
Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)
Computer Science