Sensorless planning for medical needle insertion procedures

  • Alterovitz R
  • Goldberg K
  • Pouliot J
 et al. 
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Medical procedures such as seed implantation, biopsies, and treatment
injections require inserting a needle tip to a specific target location
inside the human body. This is difficult because (1) needle insertion
causes soft tissues to displace and deform, and (2) it is often difficult
or impossible to obtain precise imaging data during insertion. We
are developing a sensorless planning system for needle insertion
that incorporates numerical optimization with a soft tissue simulation
based on a dynamic FEM formulation that models the effects of needle
tip and frictional forces using a 2D mesh. In this paper we describe
a sensorless planning algorithm for radioactive seed implantation
that computes needle insertion offsets that compensate for tissue
deformations. We apply the method to seed implantation during permanent
seed prostate brachytherapy to minimize seed placement error in simulation
without relying on real-time imaging.

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  • R Alterovitz

  • K Goldberg

  • J Pouliot

  • R Taschereau

  • I-Chow Hsu

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