Development of a Needle Deflection Detection System for a CT Guided Robot

Lena Guinot, Ryosuke Tsumura, Shun Inoue, Hiroyasu Iwata

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The uncertainty and unpredictability regarding the occurrence of needle deflection during percutaneous puncture, especially when using very fine needles, can greatly complexify surgical tasks such as needle insertion in the lower abdomen. To avoid the increased risks induced by prolonged CT scan radiation exposure, this paper offers an alternative to the retrieval of needle tip position from CT scan images. In this method, the deflection of the needle is detected and reported in accordance with insertion force data as the needle is inserted into the bowel. This method relies on the use of a Gated Recurrent Unit based neural network to predict the occurrence and type of deflection met during the procedure depending on the intended path and tissue type to be punctured in order to reach the target (cancer tumor). This system accounts for the original angle of insertion of the needle. Results of final experiments returned a 100% true positive rate, signifying that in the eventuality of needle deflection, it would systematically have been predicted by the neural network.

Original languageEnglish
Title of host publicationProceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages34-38
Number of pages5
ISBN (Electronic)9781728166674
DOIs
Publication statusPublished - 2020 Jan
Event2020 IEEE/SICE International Symposium on System Integration, SII 2020 - Honolulu, United States
Duration: 2020 Jan 122020 Jan 15

Publication series

NameProceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020

Conference

Conference2020 IEEE/SICE International Symposium on System Integration, SII 2020
CountryUnited States
CityHonolulu
Period20/1/1220/1/15

Keywords

  • machine learning
  • needle deflection
  • robot assisted needle insertion

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Biomedical Engineering
  • Control and Systems Engineering
  • Safety, Risk, Reliability and Quality
  • Control and Optimization
  • Instrumentation

Fingerprint Dive into the research topics of 'Development of a Needle Deflection Detection System for a CT Guided Robot'. Together they form a unique fingerprint.

  • Cite this

    Guinot, L., Tsumura, R., Inoue, S., & Iwata, H. (2020). Development of a Needle Deflection Detection System for a CT Guided Robot. In Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020 (pp. 34-38). [9026168] (Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SII46433.2020.9026168