University of Twente Student Theses


Design and development of a needleplacement mechanism to minimize the number of scans during image-guided procedures

Shastri, R. (2020) Design and development of a needleplacement mechanism to minimize the number of scans during image-guided procedures.

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Abstract:Percutaneous needle-placement is being extensively employed for clinical procedures like biopsy and ablation. The success of the surgery mainly depends on the accuracy of the needle-placement. Further, the procedure is guided by the feedback provided by imaging devices like Computed Tomography (CT), Magnetic Resonance Imaging (MRI) or Ultrasound (US). Therefore, every needle-placement involves performing multiple scans before placing the needle accurately at the target. Furthermore, procedures like Irreversible Electroporation (IRE), Microwave Ablation (MWA) and Cryoablation involve insertion of multiple needles or probes at the target. This further increases the total number of scans per procedure. This repeated exposure of the patient to hazardous ionizing radiation can cause radiation-induced cancer in the patient. This report discusses the design and development of a novel device which can perform multiple, accurate needle-placement with minimum number of scans. Various commercially available devices were studied and requirements for the novel device were stated. Based on the requirements different concepts were developed. This study introduces a new category called ceiling-mounted devices to assist percutaneous needle-placement. A feasible concept under ceiling-mounted devices was selected. Unlike most of the existing devices, the novel concept requires only two CT scans for the first needle-placement. Subsequent needle-insertion requires one extra scan per procedure to verify the placement. Therefore, with the novel device, n needle-placements require nÅ1 CT scans. Further, the concept was explored and mechanical design of different parts has been discussed followed by kinematic simulations. An estimate of error in the system was calculated and is found to be Ç2.5mmfor a tumour located at 250mm depth. Some risks involved in the system were also discussed. A feasibility of the design was verified by analysis against all the requirements. Recommendations for future development were presented.
Item Type:Essay (Master)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Programme:Systems and Control MSc (60359)
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