Optical measurement of needle insertion depth

Karsten Seidl, Gabor Fichtinger, Peter Kazanzides

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

Abstract

We present an optical encoder to report the insertion depth of surgical needles with sub-millimeter resolution. The work pertains to robot-assisted percutaneous needle placement applications. The motivating application is prostate brachytherapy, a procedure to permanently implant radioactive seeds into the prostate to eradicate cancer. Independently, we developed multiple robotic needle placement systems involving a motorized needle driver with axially loaded friction transmission and also a fully manual needle driver. Both needle driving approaches require encoding the depth of needle insertion. The implant needles have a pattern with reflective and non-reflective stripes of 5 mm in length. To achieve sub-millimeter encoding accuracy, a method based on a linear sensor array has been developed. It yielded a compact and robust optical encoder that is low-cost and potentially disposable. Custom hardware was prototyped, including light source, linear array sensor, needle guide, microcontroller, and USB interface.

Original languageEnglish (US)
Title of host publicationProceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
Pages799-804
Number of pages6
Volume2006
DOIs
StatePublished - 2006
Event1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006 - Pisa, Italy
Duration: Feb 20 2006Feb 22 2006

Other

Other1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
CountryItaly
CityPisa
Period2/20/062/22/06

Fingerprint

Needles
Sensor arrays
Microcontrollers
Light sources
Seed
Robotics
Robots
Friction
Hardware
Costs

Keywords

  • Medical robotics
  • Needle insertion
  • Optical encoder

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Seidl, K., Fichtinger, G., & Kazanzides, P. (2006). Optical measurement of needle insertion depth. In Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006 (Vol. 2006, pp. 799-804). [1639188] https://doi.org/10.1109/BIOROB.2006.1639188

Optical measurement of needle insertion depth. / Seidl, Karsten; Fichtinger, Gabor; Kazanzides, Peter.

Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006. Vol. 2006 2006. p. 799-804 1639188.

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

Seidl, K, Fichtinger, G & Kazanzides, P 2006, Optical measurement of needle insertion depth. in Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006. vol. 2006, 1639188, pp. 799-804, 1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006, Pisa, Italy, 2/20/06. https://doi.org/10.1109/BIOROB.2006.1639188
Seidl K, Fichtinger G, Kazanzides P. Optical measurement of needle insertion depth. In Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006. Vol. 2006. 2006. p. 799-804. 1639188 https://doi.org/10.1109/BIOROB.2006.1639188
Seidl, Karsten ; Fichtinger, Gabor ; Kazanzides, Peter. / Optical measurement of needle insertion depth. Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006. Vol. 2006 2006. pp. 799-804
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