Constrained optimal control of needle deflection for semi-manual steering

Carlos Rossa; Seyedmohsen Khadem; Ronald Sloboda; Nawaid Usmani; Mahdi Tavakoli

doi:10.1109/AIM.2016.7576933

Constrained optimal control of needle deflection for semi-manual steering

Carlos Rossa, Seyedmohsen Khadem, Ronald Sloboda, Nawaid Usmani, Mahdi Tavakoli

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract / Description of output

Brachytherapy is a widely used treatment for patients with localized cancer where high doses of radiation are administered to cancerous tissue by implanting radioactive seeds into the prostate using long beveled-tip needles. Accurate seed placement is an important factor that influences the outcome of the treatment. In this paper, we present and study the suitability of a new framework for computer-assisted needle steering during seed implantation in brachytherapy. The framework is based on a hand held brachytherapy needle steering apparatus. As the needle is manually inserted, the device automatically rotates the needle's base axially at appropriate depths inside tissue in order to control the trajectory of the needle tip towards a target. The steering controller is based on the Rapidly Exploring Random Tree algorithm that updates the necessary manoeuvres online. Experimental results performed in phantom and ex-vivo biological tissues show an average absolute targeting error of 0.56 ±0.62 and 0.48 ±0.48 mm, respectively.

Original language	English
Title of host publication	Proceedings of the 2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)
Place of Publication	Banff, AB, Canada
Publisher	Institute of Electrical and Electronics Engineers
Pages	1198-1203
Number of pages	6
ISBN (Electronic)	978-1-5090-2065-2
ISBN (Print)	978-1-5090-2066-9
DOIs	https://doi.org/10.1109/AIM.2016.7576933
Publication status	Published - 29 Sept 2016
Event	IEEE International Conference on Advanced Intelligent Mechatronics 2016 - Banff, Canada Duration: 12 Jul 2016 → 15 Jul 2016

Conference

Conference	IEEE International Conference on Advanced Intelligent Mechatronics 2016
Abbreviated title	AIM 2016
Country/Territory	Canada
City	Banff
Period	12/07/16 → 15/07/16

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10.1109/AIM.2016.7576933

https://ieeexplore.ieee.org/abstract/document/7576933

Cite this

@inproceedings{0616c718a97b4c1fbe474afb34e61145,

title = "Constrained optimal control of needle deflection for semi-manual steering",

abstract = "Brachytherapy is a widely used treatment for patients with localized cancer where high doses of radiation are administered to cancerous tissue by implanting radioactive seeds into the prostate using long beveled-tip needles. Accurate seed placement is an important factor that influences the outcome of the treatment. In this paper, we present and study the suitability of a new framework for computer-assisted needle steering during seed implantation in brachytherapy. The framework is based on a hand held brachytherapy needle steering apparatus. As the needle is manually inserted, the device automatically rotates the needle's base axially at appropriate depths inside tissue in order to control the trajectory of the needle tip towards a target. The steering controller is based on the Rapidly Exploring Random Tree algorithm that updates the necessary manoeuvres online. Experimental results performed in phantom and ex-vivo biological tissues show an average absolute targeting error of 0.56 ±0.62 and 0.48 ±0.48 mm, respectively.",

author = "Carlos Rossa and Seyedmohsen Khadem and Ronald Sloboda and Nawaid Usmani and Mahdi Tavakoli",

year = "2016",

month = sep,

day = "29",

doi = "10.1109/AIM.2016.7576933",

language = "English",

isbn = "978-1-5090-2066-9",

pages = "1198--1203",

booktitle = "Proceedings of the 2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)",

publisher = "Institute of Electrical and Electronics Engineers",

address = "United States",

note = "IEEE International Conference on Advanced Intelligent Mechatronics 2016, AIM 2016 ; Conference date: 12-07-2016 Through 15-07-2016",

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Rossa, C, Khadem, S, Sloboda, R, Usmani, N & Tavakoli, M 2016, Constrained optimal control of needle deflection for semi-manual steering. in Proceedings of the 2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM). Institute of Electrical and Electronics Engineers, Banff, AB, Canada, pp. 1198-1203, IEEE International Conference on Advanced Intelligent Mechatronics 2016, Banff, Alberta, Canada, 12/07/16. https://doi.org/10.1109/AIM.2016.7576933

Constrained optimal control of needle deflection for semi-manual steering. / Rossa, Carlos; Khadem, Seyedmohsen; Sloboda, Ronald et al.
Proceedings of the 2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM). Banff, AB, Canada: Institute of Electrical and Electronics Engineers, 2016. p. 1198-1203.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

TY - GEN

T1 - Constrained optimal control of needle deflection for semi-manual steering

AU - Rossa, Carlos

AU - Khadem, Seyedmohsen

AU - Sloboda, Ronald

AU - Usmani, Nawaid

AU - Tavakoli, Mahdi

PY - 2016/9/29

Y1 - 2016/9/29

N2 - Brachytherapy is a widely used treatment for patients with localized cancer where high doses of radiation are administered to cancerous tissue by implanting radioactive seeds into the prostate using long beveled-tip needles. Accurate seed placement is an important factor that influences the outcome of the treatment. In this paper, we present and study the suitability of a new framework for computer-assisted needle steering during seed implantation in brachytherapy. The framework is based on a hand held brachytherapy needle steering apparatus. As the needle is manually inserted, the device automatically rotates the needle's base axially at appropriate depths inside tissue in order to control the trajectory of the needle tip towards a target. The steering controller is based on the Rapidly Exploring Random Tree algorithm that updates the necessary manoeuvres online. Experimental results performed in phantom and ex-vivo biological tissues show an average absolute targeting error of 0.56 ±0.62 and 0.48 ±0.48 mm, respectively.

AB - Brachytherapy is a widely used treatment for patients with localized cancer where high doses of radiation are administered to cancerous tissue by implanting radioactive seeds into the prostate using long beveled-tip needles. Accurate seed placement is an important factor that influences the outcome of the treatment. In this paper, we present and study the suitability of a new framework for computer-assisted needle steering during seed implantation in brachytherapy. The framework is based on a hand held brachytherapy needle steering apparatus. As the needle is manually inserted, the device automatically rotates the needle's base axially at appropriate depths inside tissue in order to control the trajectory of the needle tip towards a target. The steering controller is based on the Rapidly Exploring Random Tree algorithm that updates the necessary manoeuvres online. Experimental results performed in phantom and ex-vivo biological tissues show an average absolute targeting error of 0.56 ±0.62 and 0.48 ±0.48 mm, respectively.

U2 - 10.1109/AIM.2016.7576933

DO - 10.1109/AIM.2016.7576933

M3 - Conference contribution

SN - 978-1-5090-2066-9

SP - 1198

EP - 1203

BT - Proceedings of the 2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)

PB - Institute of Electrical and Electronics Engineers

CY - Banff, AB, Canada

T2 - IEEE International Conference on Advanced Intelligent Mechatronics 2016

Y2 - 12 July 2016 through 15 July 2016

ER -

Constrained optimal control of needle deflection for semi-manual steering

Abstract / Description of output

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