Needle Insertion Path Planning System for Lower Abdominal Insertion Based on CT Images

Ryutaro Matsumoto, Ryosuke Tsumura, Hiroyasu Iwata

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

Abstract

For percutaneous needle insertion in the lower abdomen, preoperative insertion path planning with CT imaging is important. Previous studies have shown that needle deflection can be minimized by selecting an insertion path for which the sum of the insertion angles on the tissue boundaries is minimized. To apply the concept of path planning to the clinical setting, a system must be developed to automatically calculate the insertion angle and determine the optimal insertion path on CT images. We herein present a method for multilayered tissue boundary detection in the lower abdomen and insertion angle calculation along the insertion path based on the boundary detection. Because this detection method does not depend on the tissue shape, the boundary points showing a peak brightness change on each insertion path are detected and connected. The experimental results showed an average insertion angle error in the skin, muscle, and bowel of 0.68, 0.99, and 5.3 degrees, respectively.

Original languageEnglish
Title of host publication2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages182-185
Number of pages4
ISBN (Electronic)9781728103761
DOIs
Publication statusPublished - 2019 Mar 11
Event2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018 - Kuala Lumpur, Malaysia
Duration: 2018 Dec 122018 Dec 15

Publication series

Name2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018

Conference

Conference2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018
CountryMalaysia
CityKuala Lumpur
Period18/12/1218/12/15

Fingerprint

Motion planning
Needles
Tissue
Abdomen
Muscle
Luminance
Skin
Imaging techniques
Muscles

ASJC Scopus subject areas

  • Biotechnology
  • Artificial Intelligence
  • Human-Computer Interaction

Cite this

Matsumoto, R., Tsumura, R., & Iwata, H. (2019). Needle Insertion Path Planning System for Lower Abdominal Insertion Based on CT Images. In 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018 (pp. 182-185). [8664883] (2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO.2018.8664883

Needle Insertion Path Planning System for Lower Abdominal Insertion Based on CT Images. / Matsumoto, Ryutaro; Tsumura, Ryosuke; Iwata, Hiroyasu.

2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018. Institute of Electrical and Electronics Engineers Inc., 2019. p. 182-185 8664883 (2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018).

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

Matsumoto, R, Tsumura, R & Iwata, H 2019, Needle Insertion Path Planning System for Lower Abdominal Insertion Based on CT Images. in 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018., 8664883, 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018, Institute of Electrical and Electronics Engineers Inc., pp. 182-185, 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018, Kuala Lumpur, Malaysia, 18/12/12. https://doi.org/10.1109/ROBIO.2018.8664883
Matsumoto R, Tsumura R, Iwata H. Needle Insertion Path Planning System for Lower Abdominal Insertion Based on CT Images. In 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018. Institute of Electrical and Electronics Engineers Inc. 2019. p. 182-185. 8664883. (2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018). https://doi.org/10.1109/ROBIO.2018.8664883
Matsumoto, Ryutaro ; Tsumura, Ryosuke ; Iwata, Hiroyasu. / Needle Insertion Path Planning System for Lower Abdominal Insertion Based on CT Images. 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 182-185 (2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018).
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