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Journal of Medical Devices | Volume 11 | Issue 3 | Technical Brief
Technical Brief

Assessment of the Accuracy of Optical Shape Sensing for Needle Tracking Interventions

[+] Author and Article Information
Koushik Kanti Mandal

Medical Laboratory,
Department of Computer and Software Engineering,
Polytechnique Montréal,
Montréal, QC H3T 1J4, Canada
e-mail: koushik-kanti.mandal@polymtl.ca

Francois Parent

APCL Laboratory,
Department of Engineering Physics,
Polytechnique Montréal,
Montréal, QC H3T 1J4, Canada
e-mail: francoisparent87@gmail.com

Raman Kashyap

APCL Laboratory,
Department of Electrical Engineering
and Engineering Physics,
Polytechnique Montréal,
Montréal, QC H3T 1J4, Canada
e-mail: raman.kashyap@polymtl.ca

Sylvain Martel

NanoRobotics Laboratory,
Department of Computer and Software Engineering,
Polytechnique Montréal,
Montréal, QC H3T 1J4, Canada
e-mail: sylvain.martel@polymtl.ca

Samuel Kadoury

Medical Laboratory,
Department of Computer and Software Engineering,
Institute of Biomedical Engineering,
Polytechnique Montréal,
Montréal, QC H3T 1J4, Canada
e-mail: samuel.kadoury@polymtl.ca

1Corresponding author.

Manuscript received August 25, 2016; final manuscript received February 19, 2017; published online June 27, 2017. Assoc. Editor: Chris Rylander.

J. Med. Devices 11(3), 034504 (Jun 27, 2017) (7 pages) Paper No: MED-16-1309; doi: 10.1115/1.4036338 History: Received August 25, 2016; Revised February 19, 2017
Article
References
Figures

Accurate needle guidance is essential for a number of magnetic resonance imaging (MRI)-guided percutaneous procedures, such as radiofrequency ablation (RFA) of metastatic liver tumors. A promising technology to obtain real-time tracking of the shape and tip of a needle is by using high-frequency (up to 20 kHz) fiber Bragg grating (FBG) sensors embedded in optical fibers, which are insensitive to external magnetic fields. We fabricated an MRI-compatible needle designed for percutaneous procedures with a series of FBG sensors which would be tracked in an image-guidance system, allowing to display the needle shape within a navigation image. A series of phantom experiments demonstrated needle tip tracking errors of 1.05 ± 0.08 mm for a needle deflection up to 16.82 mm on a ground-truth model and showed nearly similar accuracy to electromagnetic (EM) tracking (i.e., 0.89 ± 0.09 mm). We demonstrated feasibility of the FBG-based tracking system for MRI-guided interventions with differences under 1 mm between tracking systems. This study establishes the needle tracking accuracy of FBG needle tracking for image-guided procedures.
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References

1
Tsekos, N. V. , Khanicheh, A. , Christoforou, E. , and Mavroidis, C. , 2007, “ Magnetic Resonance–Compatible Robotic and Mechatronics Systems for Image-Guided Interventions and Rehabilitation: A Review Study,” Annu. Rev. Biomed. Eng., 9(1), pp. 351–387. [CrossRef] [PubMed]
2
Phee, S. J. , and Yang, K. , 2010, “ Interventional Navigation Systems for Treatment of Unresectable Liver Tumor,” Med. Biol. Eng. Comput., 48(2), pp. 103–111. [CrossRef] [PubMed]
3
Abolhassani, N. , Patil, R. , and Mehrdad, M. , 2007, “ Needle Insertion Into Soft Tissue: A Survey,” Med. Eng. Phys., 29(4), pp. 413–431. [CrossRef] [PubMed]
4
Kashyap, R. , 2010, Fiber Bragg Gratings, Academic Press, Chicago, IL.
5
Park, Y. L. , Elayaperumal, S. , Daniel, B. , Ryu, S. C. , Shin, M. , and Savall, J. , 2010, “ Real-Time Estimation of 3-D Needle Shape and Deflection for MRI-Guided Interventions,” IEEE/ASME Trans. Mechatronics, 15(6), pp. 906–915.
6
Abayazid, M. , Kemp, M. , and Misra, S. , 2013, “ 3D Flexible Needle Steering in Soft-Tissue Phantoms Using Fiber Bragg Grating Sensors,” IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, May 6–10, pp. 5843–5849.
7
Henken, K. , Dankelman, J. , Van Den Dobbelsteen, J. , Van Gerwen, D. , Cheng, L. K. , and van der Heiden, M. S. , 2014, “ Error Analysis of FBG-Based Shape Sensors for Medical Needle Tracking,” IEEE/ASME Trans. Mechatronics, 19(5), pp. 1523–1531. [CrossRef]
8
Seifabadi, R. , Gomez, E. E. , Aalamifar, F. , Fichtinger, G. , and Iordachita, I. , 2013, “ Real-Time Tracking of a Bevel-Tip Needle With Varying Insertion Depth: Toward Teleoperated MRI-Guided Needle Steering,” IEEE/RSJ International Conference Intelligent Robots and Systems (IROS), Tokyo, Japan, Nov. 3–7, pp. 469–476.
9
De Boor, C. , 1978, A Practical Guide to Splines, Vol. 27, Springer-Verlag, New York.
10
Mandal, K. K. , Parent, F. , Martel, S. , Kashyap, R. , and Kadoury, S. , 2015, “ Calibration of a Needle Tracking Device With Fiber Bragg Grating Sensors,” Proc. SPIE, 9415, p. 94150X.
11
Fedorov, A., Beichel, R., Kalpathy-Cramer, J., Finet, J., Fillion-Robin, J. C., Pujol, S., Bauer, C., Jennings, D., Fennessy, F. M., Sonka, M., Buatti, J., Aylward, S. R., Miller, J. V., Pieper, S., and Kikinis R., 2012, “ 3D Slicer as an Image Computing Platform for the Quantitative Imaging Network,” Magn. Reson. Imaging, 30(9), pp. 1323–1341. [CrossRef] [PubMed]

Figures

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Fig. 4

Experimental setup with an Aurora NDI EMTS containing the field generator and the needle

+Experimental setup with an Aurora NDI EMTS containing the field generator and the needle
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Experimental setup with an Aurora NDI EMTS containing the field generator and the needle
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Fig. 3

(a) The complete experimental setup of our FBG-based tracking system, (b) calibration plate holding the needle tip inside a groove, (c) three Newport PM500 linear stages, (d) two manual linear stages, (e) camera-1, and (f) camera-2

+(a) The complete experimental setup of our FBG-based tracking system, (b) calibration plate holding the needle tip inside a groove, (c) three Newport PM500 linear stages, (d) two manual linear stages, (e) camera-1, and (f) camera-2
View Large  |  Save Figure  |  Download Slide (.ppt)
(a) The complete experimental setup of our FBG-based tracking system, (b) calibration plate holding the needle tip inside a groove, (c) three Newport PM500 linear stages, (d) two manual linear stages, (e) camera-1, and (f) camera-2
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Fig. 6

Accuracy of the estimated needle tip position of (a) the FBG-based tracking and (b) the NDI Aurora EMTS at various deflections in the xz-planes of phantom-1

+Accuracy of the estimated needle tip position of (a) the FBG-based tracking and (b) the NDI Aurora EMTS at various deflections in the xz-planes of phantom-1
View Large  |  Save Figure  |  Download Slide (.ppt)
Accuracy of the estimated needle tip position of (a) the FBG-based tracking and (b) the NDI Aurora EMTS at various deflections in the xz-planes of phantom-1
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Fig. 2

(a) An FBG-based needle with three optical fibers having a 120 deg configuration. Each fiber has three FBGs placed at 35, 75, and 115 mm from the needle base; (b) a 20G spinal needle and three fibers glued together.

+(a) An FBG-based needle with three optical fibers having a 120 deg configuration. Each fiber has three FBGs placed at 35, 75, and 115 mm from the needle base; (b) a 20G spinal needle and three fibers glued together.
View Large  |  Save Figure  |  Download Slide (.ppt)
(a) An FBG-based needle with three optical fibers having a 120 deg configuration. Each fiber has three FBGs placed at 35, 75, and 115 mm from the needle base; (b) a 20G spinal needle and three fibers glued together.
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Fig. 1

Three-dimensional shape reconstruction of a needle using the shape sensing technique where bending is characterized by the wavelength shift. The shift of the wavelengths λ7, λ8, and λ9 occurs due to the bending at triplet #3, while the wavelengths λ1, … , λ6 remain fixed as no bending takes place at triplets #1 and #2.

+Three-dimensional shape reconstruction of a needle using the shape sensing technique where bending is characterized by the wavelength shift. The shift of the wavelengths λ7, λ8, and λ9 occurs due to the bending at triplet #3, while the wavelengths λ1, … , λ6 remain fixed as no bending takes place at triplets #1 and #2.
View Large  |  Save Figure  |  Download Slide (.ppt)
Three-dimensional shape reconstruction of a needle using the shape sensing technique where bending is characterized by the wavelength shift. The shift of the wavelengths λ7, λ8, and λ9 occurs due to the bending at triplet #3, while the wavelengths λ1, … , λ6 remain fixed as no bending takes place at triplets #1 and #2.
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Fig. 5

Six multimodality radiology disk-shaped markers attached with the gel phantom (left image) and the corresponding location of the markers in MRI images (right image). These markers were used to perform the point-based registration.

+Six multimodality radiology disk-shaped markers attached with the gel phantom (left image) and the corresponding location of the markers in MRI images (right image). These markers were used to perform the point-based registration.
View Large  |  Save Figure  |  Download Slide (.ppt)
Six multimodality radiology disk-shaped markers attached with the gel phantom (left image) and the corresponding location of the markers in MRI images (right image). These markers were used to perform the point-based registration.
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Fig. 7

(a) Phantom-2 containing a set of 23 holes and (b) its 3D model, the nondeflected needle tip position is shown as a black star; RMS error distribution of the needle tip position at various deflections (shown in highlighted holes) for both (c) the FBG-based tracking and (d) the Aurora EMTS

+(a) Phantom-2 containing a set of 23 holes and (b) its 3D model, the nondeflected needle tip position is shown as a black star; RMS error distribution of the needle tip position at various deflections (shown in highlighted holes) for both (c) the FBG-based tracking and (d) the Aurora EMTS
View Large  |  Save Figure  |  Download Slide (.ppt)
(a) Phantom-2 containing a set of 23 holes and (b) its 3D model, the nondeflected needle tip position is shown as a black star; RMS error distribution of the needle tip position at various deflections (shown in highlighted holes) for both (c) the FBG-based tracking and (d) the Aurora EMTS
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Fig. 8

(a) Comparison in RMS errors for measured TRE using the FBG tracking system (left) and the NDI Aurora EMTS (right). (b) Needle navigation through the tubes in a gel phantom. Image acquired from a camera showing the actual shape of the needle. (c) The reconstructed needle shape using FBG sensors (shown inside the segmented tube), illustrating needle is well inside the segmented tubes with accurate tip tracking.

+(a) Comparison in RMS errors for measured TRE using the FBG tracking system (left) and the NDI Aurora EMTS (right). (b) Needle navigation through the tubes in a gel phantom. Image acquired from a camera showing the actual shape of the needle. (c) The reconstructed needle shape using FBG sensors (shown inside the segmented tube), illustrating needle is well inside the segmented tubes with accurate tip tracking.
View Large  |  Save Figure  |  Download Slide (.ppt)
(a) Comparison in RMS errors for measured TRE using the FBG tracking system (left) and the NDI Aurora EMTS (right). (b) Needle navigation through the tubes in a gel phantom. Image acquired from a camera showing the actual shape of the needle. (c) The reconstructed needle shape using FBG sensors (shown inside the segmented tube), illustrating needle is well inside the segmented tubes with accurate tip tracking.

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