Modeling of flexible needle insertion in moving tissue
Author
Güven, Aslı Deniz
Advisor
Aksoy, Selim
Date
2012Publisher
Bilkent University
Language
English
Type
ThesisItem Usage Stats
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Abstract
Steerable needles can be used for minimally invasive surgeries to reach clinical
targets which were previously inaccessible by rigid needles. Using such flexible
needles to plan an insertion for these procedures is difficult because of the nonholonomic
motion of the bevel-tip needles and the presence of anatomical obstacles.
In this work, we take into consideration another property of such procedures
being the tissue motion as well as these. For instance in a minimally invasive
cardiac surgery one should take into account the effect of the heart’s beating
motion on the needle during its insertion or in any other procedure the effect
of human breathing. In this thesis, we develop a motion model for a bevel-tip
needle such that it can be inserted within in any tissue under a motion which can
be characterized by a time-dependent diffeomorphism. We then explore motion
planning under periodic motion of a homogeneous, planar tissue where we use
the Rapidly-exploring Random Trees (RRTs) method with the developed model
to explore the tissue. While we perform the planning, we aim that the needle
reaches a target area in the tissue while avoiding obstacles which are actually tissue
segments that we want to avoid getting in contact with and intuitively follow
the same motion of the tissue.