Calibration of a needle tracking device with fiber Bragg grating sensors

Koushik K. Mandal; Francois Parent; Sylvain Martel; Raman Kashyap; Samuel Kadoury

doi:10.1117/12.2081198

18 March 2015 Calibration of a needle tracking device with fiber Bragg grating sensors

Koushik K. Mandal, Francois Parent, Sylvain Martel, Raman Kashyap, Samuel Kadoury

Proceedings Volume 9415, Medical Imaging 2015: Image-Guided Procedures, Robotic Interventions, and Modeling; 94150X (2015) https://doi.org/10.1117/12.2081198
Event: SPIE Medical Imaging, 2015, Orlando, Florida, United States

Abstract

Accurate needle placement is essential in percutaneous procedures such as radiofrequency ablation (RFA) of liver tumors. Use of real-time navigation of an interventional needle can improve targeting accuracy and yield precise measurements of the needle tip inside the body. An emerging technology based on Fiber Bragg Grating (FBG) sensors has demonstrated the potential of estimating shapes at high frequencies (up to 20 kHz), fast enough for real-time applications. In this paper, we present a calibration procedure for this novel needle tracking technology using strain measurements obtained from fiber Bragg gratings (FBGs). Three glass fibers equipped with two FBGs each were incorporated into a 19G needle. The 3D needle shape is reconstructed based on a polynomial fitting of strain measurements obtained from the fibers. The real-time information provided by the needle tip position and shape allows tracking of the needle deflections during tissue insertion. An experimental setup was designed to yield a calibration that is insensitive to ambient temperature fluctuations and robust to slight external disturbances. We compare the shape of the 3D reconstructed needle to measurements obtained from camera images, as well as assess needle tip tracking accuracy on a ground-truth phantom. Initial results show that the tracking errors for the needle tip are under 1mm, while 3D shape deflections are minimal near the needle tip. The accuracy is appropriate for applications such as RFA of liver tumors.

Citation Download Citation

Koushik K. Mandal, Francois Parent, Sylvain Martel, Raman Kashyap, and Samuel Kadoury "Calibration of a needle tracking device with fiber Bragg grating sensors", Proc. SPIE 9415, Medical Imaging 2015: Image-Guided Procedures, Robotic Interventions, and Modeling, 94150X (18 March 2015); https://doi.org/10.1117/12.2081198

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