1. Ultrasound-Guided Robot for Flexible Needle Steering David Kennedy

2. Background Various clinical procedures require needle insertion: – Biopsies – Local Anesthesia – Blood sampling – Prostate brachytherapy – Ablation Many done free-hand.

3. Ultrasound System Includes: – Robot designed insertion system – Image processing algorithms – Tissue stiffness system

4. Virtual Spring Model Needle displacement and tissue response can be modeled as virtual springs distributed along the needle.

5. Needle Tip Detection Image subtraction Center of mass

6. Tissue Stiffness System speckle tracking algorithm block matching algorithm Added together create the tissue stiffness system used in the virtual spring model

7. Controlled Needle Insertion Tracking error can be minimized by the following control system.

8. Experiment Setup

9. Results Open-loop vs. Closed-loop vs. Closed-loop with updated tissue stiffness The closed-loop with updated tissue stiffness had the least error of a maximum 1mm. Improvement from the free-hand range of 6- 8mm.

11. Benefits Cut Imaging costs and radiation exposure compared to CT and MRI for brachytherapy Improves accuracy and precision for procedures, increasing its success.

12. Work Cited Neubach, Z.; Shoham, M.;, "Ultrasound-Guided Robot for Flexible Needle Steering," Biomedical Engineering, IEEE Transactions on, vol.PP, no.99, pp.1-1, 0 URL:http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnu mber=5223650&isnumber=4359967 [Impact Factor (2007): 1.677]http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnu mber=5223650&isnumber=4359967 "Biopsy." Wikipedia, the free encyclopedia. Web. 21 Feb. 2010..http://en.wikipedia.org/wiki/Biopsy "Brachytherapy." Wikipedia, the free encyclopedia. Web. 21 Feb. 2010..