Modeling of flexible needle insertion in moving tissue

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buir.advisorAksoy, Selim
dc.contributor.authorGüven, Aslı Deniz
dc.date.accessioned2016-01-08T18:22:55Z
dc.date.available2016-01-08T18:22:55Z
dc.date.issued2012
dc.descriptionAnkara : The Department of Computer Engineering and the Graduate School of Engineering and Science of Bilkent University, 2012.en_US
dc.descriptionThesis (Master's) -- Bilkent University, 2012.en_US
dc.descriptionIncludes bibliographical references.en_US
dc.description.abstractSteerable 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.en_US
dc.description.provenanceMade available in DSpace on 2016-01-08T18:22:55Z (GMT). No. of bitstreams: 1 0006397.pdf: 1076086 bytes, checksum: f87764924900952c935eba4535ad1bdd (MD5)en
dc.description.statementofresponsibilityGüven, Aslı Denizen_US
dc.format.extentxi, 59 leaves, illustrationsen_US
dc.identifier.itemidB133864
dc.identifier.urihttp://hdl.handle.net/11693/15681
dc.language.isoEnglishen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectNeedle steeringen_US
dc.subjectMinimally invasive surgeryen_US
dc.subjectPath planningen_US
dc.subjectKinematic modelingen_US
dc.subjectRRTen_US
dc.subject.lccQA166.2 .G88 2012en_US
dc.subject.lcshTrees (graph theory)en_US
dc.subject.lcshSurgical procedures, Operative--methods.en_US
dc.subject.lcshGene mapping.en_US
dc.subject.lcshTissues.en_US
dc.subject.lcshMathematical models for imaging.en_US
dc.titleModeling of flexible needle insertion in moving tissueen_US
dc.typeThesisen_US
thesis.degree.disciplineComputer Engineering
thesis.degree.grantorBilkent University
thesis.degree.levelMaster's
thesis.degree.nameMS (Master of Science)

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