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Related Experiment Video

Updated: Oct 1, 2025

Transperineal Prostate Biopsy Using a Cone-shaped Double-hole Method with Dual-plane Probe Guidance
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A needle deflection model with operating condition optimization for corrective force-based needle guidance during

Xuesong Dai1, Yongde Zhang1, Jingang Jiang1

  • 1Key Laboratory of Advanced Manufacturing and Intelligent Technology, Ministry of Education, Harbin University of Science and Technology, Harbin, China.

The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS
|March 7, 2022
PubMed
Summary

This study introduces a novel needle insertion guide for transrectal prostate brachytherapy (BT) that uses corrective forces to minimize needle deflection. Optimal parameters significantly improved puncture accuracy, enhancing seed placement precision in BT procedures.

Keywords:
correction forcedeflection estimationneedle insertionoptimization experimentpuncture accuracytransrectal brachytherapy

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Area of Science:

  • Medical Devices
  • Robotics
  • Biomedical Engineering

Background:

  • Transrectal prostate brachytherapy (BT) requires precise radioactive seed implantation.
  • Bevelled needle tips in BT can cause unwanted deflection during insertion.
  • Current methods to correct deflection have limitations, such as tissue sticking.

Purpose of the Study:

  • To investigate an auxiliary needle insertion guide for transrectal prostate BT using corrective forces.
  • To reduce needle deflection during the implantation process.
  • To improve the accuracy of radioactive seed placement.

Main Methods:

  • Developed an energy-based needle deflection model.
  • Constructed an experimental platform for corrective force-assisted punctures.
  • Utilized Design-Expert software for simulation, optimization, and regression analysis.
  • Employed a high-definition camera to record needle tip behavior during tissue penetration.

Main Results:

  • The developed needle-tissue interaction model demonstrated high accuracy with an average error of 0.39 ± 0.28 mm.
  • Needle deflection was reduced to as low as 0.8 mm with optimized puncture parameters.
  • Optimal parameter combinations effectively improved puncture accuracy.

Conclusions:

  • The corrective force-based needle insertion guide is effective in reducing needle deflection.
  • The developed model accurately predicts needle motion considering tissue nonlinearity.
  • Optimized puncture parameters enhance the precision of needle insertion in prostate brachytherapy.