Technologies for needle manipulation in magnetic resonance image (MRI)-guided interventions
Abstract/Contents
- Abstract
- This work addresses the challenges of MRI-guided interventions, with methods to manipulate and monitor instrumented tools inside the scanner bore. The work includes a shape-sensing biopsy needle with fiber Bragg grating (FBG) sensors that allows for 3-D estimation of the needle profile. The shape information is used to autonomously control the imaging plane of an MRI-scanner such that the tool tip and target are always in view. Next, a tip-force sensing needle utilizing FBG sensors is presented, which allows physicians to feel whether an interventional tool is contacting objects or piercing membranes. An initial study uses a haptic display method to compare feedback from FBG sensors at the needle tip to forces measured by an external sensor at the needle base. Preliminary results with the haptic feedback system showed that users were able to predict membrane puncture inside tissue phantoms with the FBG-based feedback better than with feedback based on the external sensor. Finally, a parallel master/slave mechanism is presented for inserting and steering a needle from outside the scanner bore for minimally invasive procedures in the prostate. This passive manipulator has two moving platforms, with dimensions chosen for MRI-guided interventions in the pelvis. Further contributions include kinematic and friction analysis to establish design parameters, and an experimental assessment to prove efficacy of the device with respect to expected force transmission behavior.
Description
| Type of resource | text |
|---|---|
| Form | electronic; electronic resource; remote |
| Extent | 1 online resource. |
| Publication date | 2014 |
| Issuance | monographic |
| Language | English |
Creators/Contributors
| Associated with | Analytis, Santhi |
|---|---|
| Associated with | Stanford University, Department of Mechanical Engineering. |
| Primary advisor | Cutkosky, Mark R |
| Primary advisor | Daniel, Bruce (Bruce Lewis) |
| Thesis advisor | Cutkosky, Mark R |
| Thesis advisor | Daniel, Bruce (Bruce Lewis) |
| Thesis advisor | Okamura, Allison |
| Advisor | Okamura, Allison |
Subjects
| Genre | Theses |
|---|
Bibliographic information
| Statement of responsibility | Santhi Analytis. |
|---|---|
| Note | Submitted to the Department of Mechanical Engineering. |
| Thesis | Thesis (Ph.D.)--Stanford University, 2014. |
| Location | electronic resource |
Access conditions
- Copyright
- © 2014 by Santhi Analytis
- License
- This work is licensed under a Creative Commons Attribution Non Commercial 3.0 Unported license (CC BY-NC).
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