Testing of neurosurgical needle steering via duty-cycled spinning in brain tissue in vitro
Conference Paper, Proceedings of 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC '09), pp. 258 - 261, September, 2009
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.
BibTeX
@conference{Minhas-2009-10330,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 = {Proceedings of 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC '09)},
year = {2009},
month = {September},
pages = {258 - 261},
keywords = {medical robotics, needle steering, neurosurgery, minimally invasive surgery},
}
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