506
Views
51
CrossRef citations to date
0
Altmetric
ORIGINAL ARTICLE

Control of soft tissue deformation during robotic needle insertion

, &
Pages 165-176 | Published online: 10 Jul 2009

References

  • Shi M., Liu H., Tao G. A stereo‐fluoroscopic image‐guided robotic biopsy scheme. IEEE Trans Contr Syst Technol 2002; 10: 309–17
  • DiMaio S. P., Salcudean S. E. Needle insertion modeling and simulation. IEEE Trans Robot Automat 2003; 19: 864–75
  • Cinquin P., Lavallee S., Troccaz J. Image guided operating robot, methodology and application. Proceedings of the IEEE Conference on Engineering in Medicine and Biology 1993; 1048–9
  • Alterovitz R., Pouliot J., Taschereau R., et al. Needle insertion and radioactive seed implantation in human tissues. Proceedings of the IEEE Conference on Robotics and Automation 2003 Taiwan. 1793–9
  • Kataoka H., Washio T., Chinzei K., et al. Measurement of tip and friction acting on a needle during penetration. Proceedings of the Conference on Medical Image Computing and Computer‐Assisted Intervention 2002; 216–23
  • DiMaio S. P., Salcudean S. E. Needle steering and model‐based trajectory planning. Proceedings of the Conference on Medical Image Computing and Computer‐Assisted Intervention 2003; 33–40
  • Nath S., Chen Z., Yue N., Trumpore S., et al. Dosimetric effects of needle divergence in prostate seed implant using 125I and 103Pd radioactive seeds. Med Phys 2000; 1058–66
  • Pouliot J., Taschereau R., Coté C., Roy J., et al. Dosimetric aspects of Permanents radioactive implants for the treatment of prostate cancer. Physics in Canada 1999; 55: 61–8
  • Okamura A. M., Simone C., O'Leary M. D. Force modeling for needle insertion into soft tissue. IEEE Trans Biomed Eng 2004; 51: 1707–16
  • DiMaio S. P., Salcudean S. E. Simulated interactive needle insertion. Proceedings of the 10th IEEE Symposium on Haptic Interfaces for Virtual Environment & Teleoperator Systems 2002; 344–51
  • Karnopp D. Computer simulation of stick‐slip friction in mechanical dynamic systems. Trans. of the ASME, J. of Dynamic Systems, Measurement and Control 1985; 107: 100–3
  • Maurin B., Barbe L., Bayle B., Zanne P., et al. In vivo study of forces during needle insertions. Scientific Workshop on Medical Robotics, Navigation and Visualization (MRNV04);. Remagen, Germany 2004; 415–22
  • Maurel W. 3D modeling of the human upper limb including the biomechanics of joints muscles and soft tissues. PhD thesis, Laboratoire d'Infographie‐Ecole Polytechnique Federale de Lausanne, Switzerland. 1999
  • Fung Y. C. Biomechanics ‐ mechanical properties of living tissues. 2. Springer‐Verlag. 1993
  • Brett P. N., Fraser C. A., Henniggan M., Griffiths M. V., et al. Automatic surgical tools for penetrating flexible tissues. Proceedings of the IEEE Conference on Engineering in Medicine and Biology 1995; 264–70
  • Brett P. N. Harrison AJ., Thomas TA. Schemes for the identification of tissue types and boundaries at the tool point for surgical needles. IEEE Trans Inform Technol in Biomed 2000; 4: 30–6
  • Matsumiya K., Momoi Y., Kobayashi E., Sugano N., et al. Analysis of forces during robotic needle insertion to human vertebra. Proceedings of the Medical Image Computing and Computer Assisted Intervention Conference; 2003; 271–8
  • Cotin S. Surgical simulation and training: the state of the art and need for tissue models. . 2003, IEEE Workshop on Intelligent Robotics and Systems 2003, Las Vegas
  • Parker K. J., Huang S. R., Musulin R. A., Lerner R. M. Tissue response to mechanical vibrations for sonoelasticity imaging. J of Ultrasound in Medicine & Biology 1990; 16: 241–6
  • Brouwer I., Ustin J., Bentley L., Sherman A., et al. Measuring in vivo animal soft tissue properties for haptic modeling in surgical simulation. Proceedings of the Medicine Meets Virtual Reality Conference 2001; 69–74
  • Han L., Noble J. A., Burcher M. A novel ultrasound indentation system for measuring biomechanical properties of in vivo soft tissue. J of Ultrasound in Medicine & Biology 2003; 29: 813–23
  • Menciassi A., Eisinberg A., Carrozza M. C., Dario P. Force sensing microinstrument for measuring tissue properties and pulse in microsurgery. IEEE/ ASME Trans on Mechatronics 2003; 8: 10–7
  • Ottensmeyer M., Kerdok A. E., Howe R. D., Dawson S. L. The effects of testing environments on the viscoelastic properties of soft tissues. Proceedings of the Medical Simulation Symposium – ISMS 2004; 3078: 9–18
  • Ottensmeyer M. P. TeMPeST 1‐D: an instrument for measuring solid organ soft tissue properties. Experimental Techniques 2002; 26: 48–50
  • <~?twb=.3w?>Céspedes I., Ophir J., Ponnekanti H., Maklad N. F. Elastography: Elasticity imaging using ultrasound with application to muscle and breast vivo. Ultrasonic Imaging 1993; 15: 73–88
  • Nava A., Mazzo E., Kleinermann F., Avis N. J., et al. Determination of the mechanical properties of soft human tissues through aspiration experiments. Proceedings of the Medical Image Computing and Computer‐Assisted Intervention Conference 2003; Montreal, Canada. 222–9
  • Brouwer I., Ustin J., Bentley L., Sherman A., et al. Measuring in vivo animal soft tissue properties for haptic modeling in surgical simulation. Proceedings of the Medicine Meets Virtual Reality Conference 2001; 69–74
  • Brown J. D., Rosen J., Kim Y. S., Chang L., et al. In‐vivo an in‐situ compressive properties of procine abdominal soft tissues. Proceedings of the Medicine Meets Virtual Reality Conference 2003; 26–32
  • Alterovitz R., Pouliot J., Taschereau R., Hsu I. J., et al. Simulating needle insertion and radioactiuve seed implantation for prostate brachytherapy. Proceedings of the Medicine Meets Virtual Reality Conference 2003; 19–25
  • Kerdok A. E., Cotin S. M., Ottensmeyer M. P., Galea A., et al. Truth cube: Establishing physical standards for real time soft tissue simulation. Workshop on Deformable Modeling and Soft Tissue Simulation, BonnGermany 2001
  • Howe R. D. The truth cube: Establishing standards for soft tissue modeling. IEEE Workshop on Intelligent Robotics and Systems. 2003
  • Kataoka H., Washio T., Audette M., Mizuhara K. A model for relations between needle deflection, force, and thickness on needle insertion. Proceedings of the Medical Image Computing and Computer‐Assisted Intervention Conference 2001; 966–74
  • Webster III R. J., Memisevic J., Okamura A. M. Design considerations for robotic needle steering. Proceedings of the IEEE Conference on Robotics and Automation 2005; 3599–3605
  • Glozman D., Shoham M. Flexible needle steering and optimal trajectory planning for percutaneous therapies. Proceedings of the Medical Image Computing and Computer‐Assisted Intervention Conference;. Saint‐Malo, France 2004; 137–44
  • Webster III R. J., Cowan N. J., Chirikjian G., Okamura A. M. June 2004, Nonholonomic modeling of needle steering. Proceedings of the 9th Symposium on Experimental Robotics
  • Craig J. J. Introduction to Robotics: Mechanics and Control. 2. Addison‐Wesley, Reading, MA 1989

Reprints and Corporate Permissions

Please note: Selecting permissions does not provide access to the full text of the article, please see our help page How do I view content?

To request a reprint or corporate permissions for this article, please click on the relevant link below:

Academic Permissions

Please note: Selecting permissions does not provide access to the full text of the article, please see our help page How do I view content?

Obtain permissions instantly via Rightslink by clicking on the button below:

If you are unable to obtain permissions via Rightslink, please complete and submit this Permissions form. For more information, please visit our Permissions help page.