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needle-steering
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Fuzzy Control of Percutaneous Needle Using Ultrasound Imaging-Based
Trajectory Planning
,
M.Sc. Thesis
Sharif University of Technology
;
Jahed, Mehran
(Supervisor)
Abstract
Subcutaneous needle insertion is one of the key methods of limited invasive surgery in medical diagnosis and treatment. However, errors in needle targeting can reduce the effectiveness of such efforts. One of the main factors of errors is due to the human guidance of the needle, which many researches have approached in recent years, and among the suggested solutions is the use of automatic or semi-automatic assist systems. Considering the treatment of prostate cancer by brachytherapy method, this research has developed a semi-automatic physician assistance system using navigation based on the potential field method and ultrasound images of the needle location, and sliding mode fuzzy...
Needle Steering in Soft Tissue
, M.Sc. Thesis Sharif University of Technology ; Jahed, Mehran (Supervisor)
Abstract
Medical needle interventions are a common technique for accessing tissue structures.In these procedures, needles are used, for example, to extract biopsy samples, brachytherapy, and to insert drugs. In TRUS guided prostate brachytherapy application, Physicians used ulterasound imaging to steer the needle and insert radioactive seeds into cancerous tumors to irradiate surrounding tissue over several months. Prostate rotation, deformation, and unavailability of imaging data during part of the insertion path result in misplaced seeds. To overcome these problems, in this research, we modeled the prostate, its membrane and the surrounding fatty tissue as linearly elastic homogenous material, and...
Needle dynamics modelling and control in prostate brachytherapy
, Article IET Control Theory and Applications ; Volume 6, Issue 11 , July , 2012 , Pages 1671-1681 ; 17518644 (ISSN) ; Jahed, M ; Sharif University of Technology
2012
Abstract
Although 'Needle steering' is considered a challenge in needle insertion strategies, needle control becomes a crucial training tool for evaluating surgeon's skills in such critical incision. In this study, a model-based dynamics equation for the needle movement through the soft tissue is developed. In the proposed control scheme, the force estimation calculated through the simulated tissue deformation data and the dynamic finite element as the tissue model, is used as the force feedback. To point out the role of mechanical properties of the soft tissue, an inverse dynamics control method is used to demonstrate the system performance in presence of uncertainty in tissue mechanical parameters....
Optical flow-based motion estimation of ultrasonic images for force estimation in percutaneous procedures: Theory and experimental validation
, Article IECON Proceedings (Industrial Electronics Conference), 25 October 2012 through 28 October 2012 ; October , 2012 , Pages 1557-1560 ; 9781467324212 (ISBN) ; Jahed, M ; Sharif University of Technology
2012
Abstract
In recent years, there hass been a pronounced emphasis on percutaneous needle steering with the aid of advanced soft tissue modeling techniques. In this work an optical flow based motion estimation method is used to estimate the force applied to the needle by the soft tissue during percutaneous applications. The study considers Finite Element Model (FEM) of the tissue evaluated by the deformation data acquired through the optical flow method. To represent the soft tissue behavior, dynamic FEM with Rayleigh damping and viscoelastic models are used. The method is validated experimentally through offline evaluation of the ultrasonic images of the chicken breast punctured by a needle. The force...