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Updated: Dec 23, 2025
Use of Electromagnetic Navigational Transthoracic Needle Aspiration E-TTNA for Sampling of Lung Nodules
Published on: May 23, 2015
A CT-guided robotic needle puncture method for lung tumours with respiratory motion
Lin Wei1, Shan Jiang1, Zhiyong Yang1
1School of Mechanical Engineering, Tianjin University, Tianjin 300350, China.
Purpose:
Percutaneous interventions rely on needle puncture to deliver medical devices into lesions. For lung tumours, respiratory motion makes effective puncture procedures difficult to achieve. To address this issue, a needle puncture method considering respiration is proposed to improve the accuracy of lung puncture.
Methods:
The accuracy of puncture is ensured by visualization and needle guidance. Dynamic visualization of the respiratory motion is developed for needle path planning based on four-dimensional computed tomography (4DCT) images. The rendered image is synchronized with the actual breathing by using respiratory signals. A robotic needle insertion strategy for velocity adjustment based on these respiratory signals is designed to guide the needle towards the moving tumour.
Results:
The dynamic visualization was tested on multiple 4DCT datasets and achieved a frame rate of over 32 frames per second (FPS). A computer simulation was carried out to verify the feasibility of the needle insertion strategy. Needle puncture was performed on a phantom, and a mean accuracy of 1.34±0.18 mm was achieved.
Conclusions:
In this paper, an efficient and robust method is proposed to improve the visualization and targeting of lung puncture, which reduces the impact of respiratory motion on the accuracy.
