Insertion method for minimizing fine needle deflection in bowel insertion based on experimental analysis

Ryosuke Tsumura, Kai Shitashima, Hiroyasu Iwata

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

    1 Citation (Scopus)

    Abstract

    Accurate insertion of fine needles is difficult due to needle deflection. Needle deflection in the lower abdomen is particularly complex, as the needle has to pass through various tissues. As the area of the bowel is dominant in lower abdominal insertion, it is important to analyze the deflection during bowel insertion and to control the needle to minimize deflection. Few studies have focused on bowel insertion. We performed a fundamental deflection analysis of needle insertion in the bowel. Moreover, we have proposed an insertion method for minimizing the needle deflection based on our analysis. First, we performed needle insertion at various insertion positions and insertion angles into the hollow-shaped bowel, and determined the trend of the needle deflection during bowel insertion. The results revealed that the needle deflection was increased due to an increase in insertion angle, and therefore insertion angle should be minimized as much as possible. However, during actual bowel needle insertion, there are many situations in which the ideal path cannot be selected due to the arrangement of the bowel loops. We proposed an insertion method that can eliminate the total needle deflections during bowel insertion by controlling the needle tip direction at the breaching of each bowel wall. The results suggest that the needle deflection can be minimized by selecting the insertion path in which the sum of each insertion angle is zero. We verified the results of this insertion method in multiple bowels in in vivo experiments, and showed that it has the potential to be used in clinical practice.

    Original languageEnglish
    Title of host publicationIROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages187-192
    Number of pages6
    Volume2017-September
    ISBN (Electronic)9781538626825
    DOIs
    Publication statusPublished - 2017 Dec 13
    Event2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017 - Vancouver, Canada
    Duration: 2017 Sep 242017 Sep 28

    Other

    Other2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017
    CountryCanada
    CityVancouver
    Period17/9/2417/9/28

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    Needles
    Tissue

    ASJC Scopus subject areas

    • Control and Systems Engineering
    • Software
    • Computer Vision and Pattern Recognition
    • Computer Science Applications

    Cite this

    Tsumura, R., Shitashima, K., & Iwata, H. (2017). Insertion method for minimizing fine needle deflection in bowel insertion based on experimental analysis. In IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems (Vol. 2017-September, pp. 187-192). [8202156] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2017.8202156

    Insertion method for minimizing fine needle deflection in bowel insertion based on experimental analysis. / Tsumura, Ryosuke; Shitashima, Kai; Iwata, Hiroyasu.

    IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems. Vol. 2017-September Institute of Electrical and Electronics Engineers Inc., 2017. p. 187-192 8202156.

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

    Tsumura, R, Shitashima, K & Iwata, H 2017, Insertion method for minimizing fine needle deflection in bowel insertion based on experimental analysis. in IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems. vol. 2017-September, 8202156, Institute of Electrical and Electronics Engineers Inc., pp. 187-192, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017, Vancouver, Canada, 17/9/24. https://doi.org/10.1109/IROS.2017.8202156
    Tsumura R, Shitashima K, Iwata H. Insertion method for minimizing fine needle deflection in bowel insertion based on experimental analysis. In IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems. Vol. 2017-September. Institute of Electrical and Electronics Engineers Inc. 2017. p. 187-192. 8202156 https://doi.org/10.1109/IROS.2017.8202156
    Tsumura, Ryosuke ; Shitashima, Kai ; Iwata, Hiroyasu. / Insertion method for minimizing fine needle deflection in bowel insertion based on experimental analysis. IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems. Vol. 2017-September Institute of Electrical and Electronics Engineers Inc., 2017. pp. 187-192
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