Purpose Percutaneous needle insertion procedures are commonly\nused for diagnostic and therapeutic purposes. Although\ncurrent technology allows accurate localization of lesions,\nthey cannot yet be precisely targeted. Lung cancer is the most\ncommon cause of cancer-related death, and early detection\nreduces the mortality rate. Therefore, suspicious lesions are\ntested for diagnosis by performing needle biopsy.\nMethods In this paper, we have presented a novel computed\ntomography (CT)-compatible needle insertion device (NID).\nThe NID is used to steer a flexible needle (?0.55 mm) with\na bevel at the tip in biological tissue. CT images and an electromagnetic\n(EM) tracking system are used in two separate\nscenarios to track the needle tip in three-dimensional space\nduring the procedure. Our system uses a control algorithm to steer the needle through a combination of insertion and\nminimal number of rotations.\nResults Noise analysis of CT images has demonstrated the\ncompatibility of the device. The results for three experimental\ncases (case 1: open-loop control, case 2: closed-loop\ncontrol using EM tracking system and case 3: closed-loop\ncontrol using CT images) are presented. Each experimental\ncase is performed five times, and average targeting errors are\n2.86�±1.14, 1.11�±0.14 and 1.94�±0.63mm for case 1, case\n2 and case 3, respectively.\nConclusions The achieved results show that our device is\nCT-compatible and it is able to steer a bevel-tipped needle\ntoward a target. We are able to use intermittent CT images\nand EM tracking data to control the needle path in a closedloop\nmanner. These results are promising and suggest that\nit is possible to accurately target the lesions in real clinical\nprocedures in the future.
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