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 language | English (US) |
|---|---|
| Title of host publication | Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006 |
| Pages | 799-804 |
| Number of pages | 6 |
| Volume | 2006 |
| DOIs | |
| State | Published - 2006 |
| Event | 1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006 - Pisa, Italy Duration: Feb 20 2006 → Feb 22 2006 |
Other
| Other | 1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006 |
|---|---|
| Country | Italy |
| City | Pisa |
| Period | 2/20/06 → 2/22/06 |
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Keywords
- Medical robotics
- Needle insertion
- Optical encoder
ASJC Scopus subject areas
- Engineering(all)
Cite this
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 proceeding › Conference contribution
}
TY - GEN
T1 - Optical measurement of needle insertion depth
AU - Seidl, Karsten
AU - Fichtinger, Gabor
AU - Kazanzides, Peter
PY - 2006
Y1 - 2006
N2 - 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.
AB - 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.
KW - Medical robotics
KW - Needle insertion
KW - Optical encoder
UR - http://www.scopus.com/inward/record.url?scp=33845562239&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=33845562239&partnerID=8YFLogxK
U2 - 10.1109/BIOROB.2006.1639188
DO - 10.1109/BIOROB.2006.1639188
M3 - Conference contribution
SN - 1424400406
SN - 9781424400409
VL - 2006
SP - 799
EP - 804
BT - Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
ER -