Empirically Comparing Magnetic Needle Steering Models Using Expectation-Maximization
Straight-line needle insertion is a prevalent tool in surgical interventions in the brain, such as Deep Brain Stimulation and Convection-Enhanced Delivery, that treat a range of conditions from Alzheimer’s disease to brain cancer. Using a steerable needle to execute curved trajectories and correct p...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-04-01
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| Series: | Robotics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2218-6581/11/2/49 |
| _version_ | 1797443846485835776 |
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| author | Richard L. Pratt Andrew J. Petruska |
| author_facet | Richard L. Pratt Andrew J. Petruska |
| author_sort | Richard L. Pratt |
| collection | DOAJ |
| description | Straight-line needle insertion is a prevalent tool in surgical interventions in the brain, such as Deep Brain Stimulation and Convection-Enhanced Delivery, that treat a range of conditions from Alzheimer’s disease to brain cancer. Using a steerable needle to execute curved trajectories and correct positional deviation could enable more intervention possibilities, while reducing the risk of complication in these procedures. This paper experimentally identifies model parameters using an expectation-maximization (EM) algorithm for two different steerable needle models. The results compared a physically motivated model to the established bicycle needle model and found the former to be preferred for modeling soft brain tissue needle insertion. The results also supported the experimentally parameterized models’ use in future applications such as needle steering control. |
| first_indexed | 2024-03-09T13:02:58Z |
| format | Article |
| id | doaj.art-94b51b0df5c14b0e88892e3ed53a6872 |
| institution | Directory Open Access Journal |
| issn | 2218-6581 |
| language | English |
| last_indexed | 2024-03-09T13:02:58Z |
| publishDate | 2022-04-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Robotics |
| spelling | doaj.art-94b51b0df5c14b0e88892e3ed53a68722023-11-30T21:51:52ZengMDPI AGRobotics2218-65812022-04-011124910.3390/robotics11020049Empirically Comparing Magnetic Needle Steering Models Using Expectation-MaximizationRichard L. Pratt0Andrew J. Petruska1Mechanical Engineering Department, Colorado School of Mines, 1500 Illinois St, Golden, CO 80401, USAMechanical Engineering Department, Colorado School of Mines, 1500 Illinois St, Golden, CO 80401, USAStraight-line needle insertion is a prevalent tool in surgical interventions in the brain, such as Deep Brain Stimulation and Convection-Enhanced Delivery, that treat a range of conditions from Alzheimer’s disease to brain cancer. Using a steerable needle to execute curved trajectories and correct positional deviation could enable more intervention possibilities, while reducing the risk of complication in these procedures. This paper experimentally identifies model parameters using an expectation-maximization (EM) algorithm for two different steerable needle models. The results compared a physically motivated model to the established bicycle needle model and found the former to be preferred for modeling soft brain tissue needle insertion. The results also supported the experimentally parameterized models’ use in future applications such as needle steering control.https://www.mdpi.com/2218-6581/11/2/49steerable needlesexpectation-maximizationflexible robotsmedical robots |
| spellingShingle | Richard L. Pratt Andrew J. Petruska Empirically Comparing Magnetic Needle Steering Models Using Expectation-Maximization Robotics steerable needles expectation-maximization flexible robots medical robots |
| title | Empirically Comparing Magnetic Needle Steering Models Using Expectation-Maximization |
| title_full | Empirically Comparing Magnetic Needle Steering Models Using Expectation-Maximization |
| title_fullStr | Empirically Comparing Magnetic Needle Steering Models Using Expectation-Maximization |
| title_full_unstemmed | Empirically Comparing Magnetic Needle Steering Models Using Expectation-Maximization |
| title_short | Empirically Comparing Magnetic Needle Steering Models Using Expectation-Maximization |
| title_sort | empirically comparing magnetic needle steering models using expectation maximization |
| topic | steerable needles expectation-maximization flexible robots medical robots |
| url | https://www.mdpi.com/2218-6581/11/2/49 |
| work_keys_str_mv | AT richardlpratt empiricallycomparingmagneticneedlesteeringmodelsusingexpectationmaximization AT andrewjpetruska empiricallycomparingmagneticneedlesteeringmodelsusingexpectationmaximization |