Table of Contents Author Guidelines Submit a Manuscript
Journal of Sensors
Volume 2013, Article ID 263153, 10 pages
http://dx.doi.org/10.1155/2013/263153
Research Article

Force-Sensor-Based Estimation of Needle Tip Deflection in Brachytherapy

1Department of Electrical and Computer Engineering, University of Alberta, 9107-116 Street, Edmonton, AB, Canada T6G 2V4
2Cross Cancer Institute, University of Alberta, 11560 University Avenue, Edmonton, AB, Canada T6G 1Z2

Received 15 March 2013; Accepted 4 May 2013

Academic Editor: Aiguo Song

Copyright © 2013 Thomas Lehmann et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Linked References

  1. R. S. Sloboda, N. Usmani, J. Pedersen, A. Murtha, N. Pervez, and D. Yee, “Time course of prostatic edema post permanent seed implant determined by magnetic resonance imaging,” Brachytherapy, vol. 9, no. 4, pp. 354–361, 2010. View at Publisher · View at Google Scholar · View at Scopus
  2. V. Lagerburg, M. A. Moerland, J. J. W. Lagendijk, and J. J. Battermann, “Measurement of prostate rotation during insertion of needles for brachytherapy,” Radiotherapy and Oncology, vol. 77, no. 3, pp. 318–323, 2005. View at Publisher · View at Google Scholar · View at Scopus
  3. H. Kataoka, T. Washio, M. Audette, and K. Mizuhara, “A model for relations between needle deflection, force, and thickness on needle penetration,” in Proceedings of the International Conference on Medical Image Computing and Computer Assisted Intervention (MICCAI '01), pp. 966–974, Springer, Heidelberg, Germany, 2001.
  4. R. Alterovitz, A. Lim, K. Goldberg, G. S. Chirikjian, and A. M. Okamura, “Steering flexible needles under Markov motion uncertainty,” in Proceedings of the IEEE IRS/RSJ International Conference on Intelligent Robots and Systems (IROS '05), pp. 120–125, August 2005. View at Publisher · View at Google Scholar · View at Scopus
  5. A. M. Okamura, C. Simone, and M. D. O’Leary, “Force modeling for needle insertion into soft tissue,” IEEE Transactions on Bio-Medical Engineering, vol. 51, no. 10, pp. 1707–1716, 2004. View at Google Scholar
  6. R. J. Webster, J. Memisevic, and A. M. Okamura, “Design considerations for robotic needle steering,” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '05), pp. 3588–3594, April 2005. View at Publisher · View at Google Scholar · View at Scopus
  7. R. J. Webster III, J. S. Kim, N. J. Cowan, G. S. Chirikjian, and A. M. Okamura, “Nonholonomic modeling of needle steering,” The International Journal of Robotics Research, vol. 25, no. 5-6, pp. 509–525, 2006. View at Google Scholar
  8. N. Abolhassani, R. Patel, and M. Moallem, “Trajectory generation for robotic needle insertion in soft tissue,” in Proceedings of the International Conference of the IEEE Engineering in Medicine and Biology Society, vol. 4, 2004.
  9. R. Hibbeler, Engineering Mechanics: Statics, Engineering Mechanics, Prentice Hall, 6th edition, 2010.
  10. N. Abolhassani, R. Patel, and F. Ayazi, “Needle control along desired tracks in robotic prostate brachytherapy,” in Proceedings of the IEEE International Conference on Systems, Man, and Cybernetics (ISIC '07), pp. 3361–3366, October 2007. View at Publisher · View at Google Scholar · View at Scopus
  11. J. M. Gere and B. J. Goodno, Mechanics of Materials, CL Engineering, 2012.
  12. N. Abolhassani, R. V. Patel, and F. Ayazi, “Minimization of needle deflection in robot-assisted percutaneous therapy,” International Journal of Medical Robotics and Computer Assisted Surgery, vol. 3, no. 2, pp. 140–148, 2007. View at Publisher · View at Google Scholar · View at Scopus
  13. G. Wan, Z. Wei, L. Gardi, D. B. Downey, and A. Fenster, “Brachytherapy needle deflection evaluation and correction,” Medical Physics, vol. 32, no. 4, pp. 902–909, 2005. View at Publisher · View at Google Scholar · View at Scopus