The Robotics Institute

Carnegie Mellon Robotics Institute

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Abstract

A technique for steering of flexible bevel-tipped needles through tissue, providing proportional control of trajectory curvature by means of duty-cycled rotation or spinning during insertion, has been presented previously, and tested in vitro in gelatin samples. The present paper presents the results of testing under more authentic conditions. Thirty-two needle insertions were performed in cadaver brain tissue. Needle insertion was controlled interactively by the surgeon, adjusting parameters intraoperatively as needed based on fluoroscope images acquired at intervals of 1-2 cm of insertion depth. The average target acquisition error was 1.80 ± 1.33 mm.

Keywords

medical robotics, needle steering, neurosurgery, minimally invasive surgery

Notes

Sponsor: Simeon M. Jones, Jr. and Katharine Reed Jones Fund and the Walter L. Copeland Fund of The Pittsburgh Foundation

Associated Center(s) / Consortia: Medical Robotics Technology Center

Associated Lab(s) / Group(s): Surgical Mechatronics Laboratory

Associated Project(s): Needle Steering for Brain Surgery

Text Reference

Davneet Minhas, Johnathan A. Engh, and Cameron Riviere, "Testing of neurosurgical needle steering via duty-cycled spinning in brain tissue in vitro," Proc. 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society, September, 2009, pp. 258-261.

BibTeX Reference

@inproceedings{Minhas_2009_6709,
   author = "Davneet Minhas and Johnathan A Engh and Cameron Riviere",
   title = "Testing of neurosurgical needle steering via duty-cycled spinning in brain tissue in vitro",
   booktitle = "Proc. 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society",
   pages = "258-261",
   month = "September",
   year = "2009",
}

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