S-Space College of Engineering/Engineering Practice School (공과대학/대학원) Dept. of Mechanical Aerospace Engineering (기계항공공학부) Theses (Master's Degree_기계항공공학부)
Needle steering scheme within limited DOFs for MR-guided breast needle intervention robot
MR 유도 유방 바늘 중재시술 로봇을 위한 한정된 자유도 안에서 바늘 스티어링 전략
- Jeonghwan Lee
- 공과대학 기계항공공학부
- Issue Date
- 서울대학교 대학원
- MR-guided breast needle intervention robot; Needle pivoting breast plate; Needle Steering; Super-elastic flexible needle; Needle deflection estimation; Large deflection beam theory
- 학위논문 (석사)-- 서울대학교 대학원 : 기계항공공학부, 2017. 2. 이건우.
- The MR-guided needle-based procedure is commonly performed for breast diagnosis and treatment. Accurate needle tip placement is important for the success of the procedure, because misplacement of the needle tip can lead to unsuccessful treatment and misdiagnosis. In addition, developing a needle steering robotic system with high precision and dexterity is required to avoid important organs, minimizing patients trauma. However, due to the strong magnetic field and relatively small MRI bore size, developing a high degrees of freedom (DOFs) robotic system is challenging. This work proposes a needle steering scheme that can be effectively utilized in an MR-guided breast needle intervention robot under limited space of MRI bore with minimizing system size increase. To overcome the space limitation and avoid critical structures in front of the lesion, a pivot is used to change the needle insertion direction. We devise the needle pivoting breast plate to increase needle tips DOFs and an estimation model of the needle deflection with a pivoted super-elastic flexible needle made of Nitinol. This computational model is based on large deflection beam theory and is employed for robot control. Open-loop needle targeting experiments under infrared tracking cameras are performed to verify the proposed scheme. The average targeting error and the standard deviation is 4.42 ± 2.58 mm.