University of Twente Student Theses


A conceptual design of a needle insertion device for compensation of lesion motion

Bruin, B.A.M. (2018) A conceptual design of a needle insertion device for compensation of lesion motion.

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Abstract:Robot-assisted needle insertion has attracted considerable attention in recent years because of its promising application inminimally invasive percutaneous procedures such as tissue sample removal, localized drug delivery and brachytherapy. The success of these procedures depends on the accuracy and precision with which the target site is reached. Breathing-induced motion, tissue deformation and needle deflection, are among the main factors affecting accuracy of needle placement and needle-tip motion path. Complications associated with inaccurate placement have been studied and can include tissue damage, misdiagnosis, poor dosimetry and tumour seeding. The use of robot-assisted needle insertions have the potential to increase the success rate of these procedures by reaching targets deep inside the body while responding to respiration movement and avoiding sensitive structures. This report describes a conceptual design of a needle insertion device that is able to adjust the needle path in order to reach a moving target by combining two motion management techniques; gating and chasing. The main focus of this work will be on compensating for breathing-induced motion of a lesion located in the liver. Robotics andMechatronics
Item Type:Essay (Bachelor)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Programme:Electrical Engineering BSc (56953)
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