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Reality-based needle insertion simulation for haptic feedback in prostate brachytherapy
Please use this identifier to cite or link to this item:
http://hdl.handle.net/1860/1290
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| Title: | Reality-based needle insertion simulation for haptic feedback in prostate brachytherapy |
| Authors: | Hing, James T.
Brooks, Ari D.
Desai, Jaydev P. |
| Keywords: | Surgical simulation
soft-tissue modeling
prostate brachytherapy
cutting force
local effective modulus |
| Issue Date: | May-2006 |
| Publisher: | IEEE Institute of Electrical and Electronics Engineers |
| Citation: | Paper presented at the 2006 IEEE International Conference on Robotics and Automation, ICRA 2006, Orlando, FL, DOI: http://dx.doi.org/10.1109/ROBOT.2006.1641779 |
| Abstract: | There is a strong need to improve the tools
clinicians use for training in procedures such as prostate
brachytherapy where the success rate is directly related to the
clinician’s level of experience. Accurate haptic feedback is needed
for developing improved surgical simulators and trainers for such
procedures. In prostate brachytherapy, accurate needle placement
of radioactive seeds in the prostate is crucial to the success of the
surgery and to the quality of life of the patient. Therefore, a trainer
or simulator for this and other types of needle insertion tasks
require an accurate reality-based quantification and model of the
needle and soft tissue interaction. To achieve this, we utilize the xray
images produced by a dual C-arm fluoroscope setup during a
needle insertion task to obtain parameters needed for accurate
modeling of soft tissue and needle interactions. The needle and
implanted markers in the tissue are tracked during the insertion
and withdrawal of the needle at speeds of 1.016mm/sec,
12.7mm/sec and 25.4mm/sec. Both image and force data are
utilized to determine important parameters such as the local
effective modulus during puncture and the approximate cutting
force for soft tissue samples. A finite element model was built
using the data to model needle puncture of tissue. |
| URI: | http://hdl.handle.net/1860/1290 |
| Appears in Collections: | Faculty Research and Publications (MEM)
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