[99772]
Title: Needle Tip Force Estimation using an OCT Fiber and a Fused convGRU-CNN Architecture - MICCAI 2018 International Conference on Medical Image Computing and Computer-Assisted Intervention
Written by: N. Gessert, T. Priegnitz, T. Saathoff, S.-T. Antoni, D. Meyer, M. F. Hamann, K.-P. Jünemann, C. Otte, A. Schlaefer
in: 2018
Volume: 11073 Number:
on pages: 222-229, Spotlight Talk
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URL: https://arxiv.org/abs/1805.11911
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Abstract: Needle insertion is common during minimally invasive interventions such as biopsy or brachytherapy. During soft tissue needle insertion, forces acting at the needle tip cause tissue deformation and needle deflection. Accurate needle tip force measurement provides information on needle\-tissue interaction and helps detecting and compensating potential misplacement. For this purpose we introduce an image\-based needle tip force estimation method using an optical fiber imaging the deformationof an epoxy layer below the needle tip over time. For calibration andforce estimation, we introduce a novel deep learning\-based fused convolutionalGRU\-CNN model which effectively exploits the spatio\-temporaldata structure. The needle is easy to manufacture and our model achieves a mean absolute error of 1\.76 \± 1\.50 mN with a cross\-correlation coefficientof 0\.9996, clearly outperforming other methods. We test needleswith different materials to demonstrate that the approach can be adaptedfor different sensitivities and force ranges. Furthermore, we validate our approach in an ex\-vivo prostate needle insertion scenario

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