TY - GEN
T1 - Intermittent insertion control method with fine needle for adapting lung deformation due to breathing motion
AU - Tsumura, Ryosuke
AU - Kakima, Kaoru
AU - Iwata, Hiroyasu
N1 - Funding Information:
*Research supported by Hasumi International Research Institution. R. Tsumura is with the Global Robot Academia Laboratory, Waseda University, Tokyo, Japan (e-mail: [email protected]. waseda.ac.jp). K. Kakima is with the School of Creative Science and Engineering, Waseda University, Tokyo, Japan. H. Iwata is with the Faculty of Science and Engineering, Waseda University, Tokyo, Japan
Publisher Copyright:
© 2020 IEEE.
PY - 2020/10/24
Y1 - 2020/10/24
N2 - Fine needle insertions into a lung are challenging in terms of the needle deflection due to the breathing motion. Although previous related works neglected the effect for the needle deflection due to the breathing motion by patients stopping the breath during the insertion, they have to suffer from the discomfort. This paper proposes the intermittent insertion control method to decrease needle deflection adapting the lung deformation due to the breathing motion. The novelty of this method is to allow for accurate needle insertion without stopping the breath, which will contribute to decreasing the discomfort and the amount of radiation exposure for patients. The intermittent insertion is to move forward the fine needle during a certain time frame that the needle deflection barely occurs since the lung is not deformed by the diaphragm motion. The feasibility of the proposed method was validated through a polyvinyl chloride (PVC) phantom and ex vivo experiments. The results showed that the deflection can be suppressed up to 1.3 mm and 3.9 mm in the PVC phantom and ex vivo experiments, respectively.
AB - Fine needle insertions into a lung are challenging in terms of the needle deflection due to the breathing motion. Although previous related works neglected the effect for the needle deflection due to the breathing motion by patients stopping the breath during the insertion, they have to suffer from the discomfort. This paper proposes the intermittent insertion control method to decrease needle deflection adapting the lung deformation due to the breathing motion. The novelty of this method is to allow for accurate needle insertion without stopping the breath, which will contribute to decreasing the discomfort and the amount of radiation exposure for patients. The intermittent insertion is to move forward the fine needle during a certain time frame that the needle deflection barely occurs since the lung is not deformed by the diaphragm motion. The feasibility of the proposed method was validated through a polyvinyl chloride (PVC) phantom and ex vivo experiments. The results showed that the deflection can be suppressed up to 1.3 mm and 3.9 mm in the PVC phantom and ex vivo experiments, respectively.
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U2 - 10.1109/IROS45743.2020.9340819
DO - 10.1109/IROS45743.2020.9340819
M3 - Conference contribution
AN - SCOPUS:85102399792
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 3192
EP - 3199
BT - 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
Y2 - 24 October 2020 through 24 January 2021
ER -