Real-time estimation of 3-D needle shape and deflection for MRI-guided interventions

Yong Lae Park, Santhi Elayaperumal, Bruce Daniel, Seok Chang Ryu, Mihye Shin, Joan Savall, Richard J. Black, Behzad Moslehi, Mark R. Cutkosky

Research output: Contribution to journalArticlepeer-review

265 Scopus citations


We describe a MRI-compatible biopsy needle instrumented with optical fiber Bragg gratings for measuring bending deflections of the needle as it is inserted into tissues. During procedures, such as diagnostic biopsies and localized treatments, it is useful to track any tool deviation from the planned trajectory to minimize positioning errors and procedural complications. The goal is to display tool deflections in real time, with greater bandwidth and accuracy than when viewing the tool in MR images. A standard 18 ga × 15 cm inner needle is prepared using a fixture, and 350-μ m-deep grooves are created along its length. Optical fibers are embedded in the grooves. Two sets of sensors, located at different points along the needle, provide an estimate of the bent profile, as well as temperature compensation. Tests of the needle in a water bath showed that it produced no adverse imaging artifacts when used with the MR scanner.

Original languageEnglish
Article number5607309
Pages (from-to)906-915
Number of pages10
JournalIEEE/ASME Transactions on Mechatronics
Issue number6
StatePublished - Dec 2010

Bibliographical note

Funding Information:
Manuscript received February 16, 2010; revised July 27, 2010; accepted September 15, 2010. Date of publication October 21, 2010; date of current version December 15, 2010. Recommended by Guest Editor K. Masamune. This work was supported in part by the U.S. Army Medical Research Acquisition Activity (USAMRAA) through Small Business Technology Transfer (STTR) under Contract W81XWH8175M677, in part by the National Institutes of Health (NIH) through “Techniques for MRI-Guided Cryosurgery of Prostate Cancer” under Contract RO1 CA/DK092061, and in part by the Graduate Research Fellowship Program (GRFP) of the National Science Foundation (NSF).


  • Biomedical transducers
  • Bragg gratings, magnetic resonance imaging (MRI)
  • biopsy
  • optical fiber sensors
  • strain measurement


Dive into the research topics of 'Real-time estimation of 3-D needle shape and deflection for MRI-guided interventions'. Together they form a unique fingerprint.

Cite this