Needle Localization Research Articles

SAVI Scout® System for Excision of Non-Palpable Breast Lesions.

The standard localization of non-palpable breast masses is wire/needle localization (WL). Newer technologies have evolved, allowing more efficient scheduling and improving surgeon and patient experiences. These include Radioactive Seed, MagSeed®, and SAVI Scout® (SS). We adopted SS at our program in July of 2017. We are reporting our experience comparing SAVI Scout® with needle localization. This is a retrospective study comparing SS and wire localization techniques for the excision of both benign and malignant lesions. Chart reviews of localized patients between 7/1/2017 and 6/30/2019, recording the age of the patient, date of procedure, localization method, pathology of lesion postexcision, number and status of margins, guidance method (mammogram vs. ultrasound), specimen size, and distance of reflector from biopsy clip, were completed to compare these localization methods with the aim of asserting their equality. There were 48 wire and 64 SS localized excisions. Successful lesion excision was achieved in 100% of cases for both techniques. There were 1 SS and 4 WL re-excisions for margin clearance not reaching statistical significance. 51 additional margins were obtained in the SS cases compared to 36 margins in the WL cases without a statistically significant difference. 1- Both SS and WL achieved 100% excision of targeted lesions 2- SS localization was successfully implemented, offering more convenience for patients and providers 3- More re-excisions in the WL group as compared to the SS group did not reach statistical significance and requires further investigation 4- A prospective controlled trial comparing the different localization techniques can address questions related to effectiveness, cost, patient and provider experiences.

Electromagnetic Navigation Transthoracic Nodule Localization for Minimally Invasive Thoracic Surgery.

The increased use of chest computed tomography (CT) has led to an increased detection of pulmonary nodules requiring diagnostic evaluation and/or excision. Many of these nodules are identified and excised via minimally invasive thoracic surgery; however, subcentimeter and subsolid nodules are frequently difficult to identify intra-operatively. This can be mitigated by the use of electromagnetic transthoracic needle localization. This protocol delineates the step-by-step process of electromagnetic localization from the pre-operative period to the postoperative period and is an adaptation of the electromagnetically guided percutaneous biopsy previously described by Arias et al. Pre-operative steps include obtaining a same day CT followed by the generation of a three-dimensional virtual map of the lung. From this map, the target lesion(s) and an entry site are chosen. In the operating room, the virtual reconstruction of the lung is then calibrated with the patient and the electromagnetic navigation platform. The patient is then sedated, intubated, and placed in the lateral decubitus position. Using a sterile technique and visualization from multiple views, the needle is inserted into the chest wall at the prechosen skin entry site and driven down to the target lesion. Dye is then injected into the lesion and, then, continuously during needle withdrawal, creating a tract for visualization intra-operatively. This method has many potential benefits when compared to the CT-guided localization, including a decreased radiation exposure and decreased time between the dye injection and the surgery. Dye diffusion from the pathway occurs over time, thereby limiting intra-operative nodule identification. By decreasing the time to surgery, there is a decrease in wait time for the patient, and less time for dye diffusion to occur, resulting in an improvement in nodule localization. When compared to electromagnetic bronchoscopy, airway architecture is no longer a limitation as the target nodule is accessed via a transparenchymal approach. Details of this procedure are described in a step-by-step fashion.

Safety and Efficacy of Cone-Beam Computed Tomography-Guided Lung Tumor Localization with a Near-Infrared Marker: A Retrospective Study of 175 Patients.

Preoperative localization holds promise for overcoming the limitations of video-assisted thoracoscopic surgery (VATS) in the treatment of impalpable lung nodules. The purpose of this study was to assess the safety and efficacy of cone-beam computed tomography (CBCT)-guided localization using near-infrared (NIR) marking. Between 2017 and 2021, patients presenting with a solitary pulmonary nodule (SPN) who had undergone CBCT-guided lesion localization with indocyanine green (ICG) in a hybrid operating room were included. The primary outcomes were the efficacy of localization and the occurrence of complications. The study cohort consisted of 175 patients with the mean age of 58.76 years. The mean size and depth of the 175 SPNs were 8.34 mm and 5.3 mm, respectively. The mean time required for lesion marking was 14.71 min. Upon thoracoscopic inspection, the NIR tattoo was detected in the vast majority of the study participants (98.3%). An utility thoracotomy to allow digital palpation was required in two of the three patients in whom the tattoo was not identifiable. The perioperative survival rate was 100%, and the mean length of hospital stay was 3.09 days. We conclude that needle localization with ICG injection is a safe and feasible technique to localize SPNs prior to resection.

Marking ground glass nodules with pulmonary nodules localization needle prior to video-assisted thoracoscopic surgery

To evaluate the efficacy and safety of marking ground glass nodules (GGNs) with pulmonary nodules localization needle (PNLN) prior to video-assisted thoracoscopic surgery (VATS). From June 2020 to February 2021, all patients with GGNs who received CT-guided localization using PNLN before VATS were enrolled. Clinical and imaging data were retrospectively analyzed. A total of 352 consecutive patients with 395 GGNs were included in the study. The mean diameter of GGNs was 0.95 ± 0.48 cm, and the shortest distance from nodules to the pleura was 1.73 ± 0.96 cm. All 395 GGNs were marked using PNLNs. The time required for marking was 7.8 ± 2.2 min. The marking success rate was 99.0% (391/395). The marking failure of four nodules was all due to the unsatisfactory position of PNLNs. No marker dislocation occurred. Marking-related complications included pneumothorax in 63 cases (17.9%), hemorrhage in 34 cases (9.7%), and hemoptysis in 6 cases (1.7%). All the complications were minor and did not need special treatment. Localization and VATS were performed on the same day in 95 cases and on different days in 257 cases. All GGNs were successfully removed by VATS. No patient converted to thoracotomy. Histopathological examination revealed 74 (18.7%) benign nodules and 321 (81.3%) malignant nodules. It is safe and reliable to perform preoperative localization of GGNs using PNLNs, which can effectively guide VATS to remove GGNs. • Preoperative localization of GGNs could effectively guide VATS to remove GGNs. • PNLN was based on the marking principle of hook-wire, through the improvement of its material, specially designed to mark pulmonary nodules. • The application of PNLN to mark GGNs had high success rate, good patient tolerance, and no dislocation. Meanwhile, VATS could be performed 2 to 3 days after marking GGNs with PNLN.

CALCIFICATION CLUSTERS AND LESIONS ANALYSIS IN MAMMOGRAM USING MULTI-ARCHITECTURE DEEP LEARNING ALGORITHMS

Today, radiologists observe a mammogram to determine whether breast tissue is normal. However, calcifications on the mammogram are so small that sometimes radiologists cannot locate them without a magnified observation to make a judgment. If clusters formed by malignant calcifications are found, the patient should undergo a needle localization surgical biopsy to determine whether the calcification cluster is benign or malignant. However, a needle localization surgical biopsy is an invasive examination. This invasive examination leaves scars, causes pain, and makes the patient feel uncomfortable and unwilling to receive an immediate biopsy, resulting in a delay in treatment time. The researcher cooperated with a medical radiologist to analyze calcification clusters and lesions, employing a mammogram using a multi-architecture deep learning algorithm to solve these problems. The features of the location of the cluster and its benign or malignant status are collected from the needle localization surgical biopsy images and medical order and are used as the target training data in this study. This study adopts the steps of a radiologist examination. First, VGG16 is used to locate calcification clusters on the mammogram, and then the Mask R-CNN model is used to find micro-calcifications in the cluster to remove background interference. Finally, an Inception V3 model is used to analyze whether the calcification cluster is benign or malignant. The prediction precision rates of VGG16, Mask R-CNN, and Inception V3 in this study are 93.63%, 99.76%, and 88.89%, respectively, proving that they can effectively assist radiologists and help patients avoid undergoing a needle localization surgical biopsy.

Radiation dose in CT-guided microwave liver tumor ablation

Introduction. Ablation is one of most important methods of liver tumor treatment. However, radiation is one of disadvantages of CT-guided procedures including ablation. The purpose of this study is to assess the factors that have impact on radiation doses during CT-guided microwave liver tumor ablation. Material and methods. Radiation doses of CT-guided liver tumor ablations were collected in 127 patients. They were then compared in terms of number of lesions, lesion size and depth, use of additional localization needles and hydrodis­section as well as tumor location. Results. The median radiation doses of ablations of multiple tumors (2348 mGy*cm) were significantly higher (p = 0.03) than those of single tumors (1784 mGy*cm). No statistically significant differences were noted when other factors (lesion size, depth, location, use of localization needles and hydrodissection) were taken into consideration. Conclusions. The number of lesions is the most important factor in terms of expected radiation doses in CT-guided microwave liver tumor ablations.

Preoperative computed tomography-guided localization for lung nodules: localization needle versus coil

Purpose To compare the clinical efficacy of computed tomography (CT)-guided localization needle and coil insertion as approaches to preoperative lung nodule (LN) localization. Material and methods Between January 2018 and December 2019, 52 patients awaiting video-assisted thoracoscopic surgery (VATS) resection underwent CT-guided coil insertion to facilitate LN localization. Additionally, 41 patients underwent CT-guided localization needle insertion between January and June 2021. Results In total, 62 and 54 LNs were localized in 52 and 41 patients in the coil and localization needle groups, respectively, with respective technical localization success rates of 96.8% and 100% (p = .498). The localization needle group exhibited a significantly shorter duration of localization relative to the coil group (p < .001), whereas comparable rates of pneumothorax (p = .918) and hemorrhage (p = .712) were evident in these groups. VATS-guided LN resection procedures achieved 100% technical success rates in both groups, and there were no significant differences between groups with respect to the type of resection (p = .113) or the mean duration of VATS (p = .778). Conclusion Coil- and localization needle-based approaches can be successfully used for LN localization prior to VATS resection, with localization needle insertion being associated with a shorter duration of localization.

Deep Learning for Instrumented Ultrasonic Tracking: From Synthetic Training Data to In Vivo Application.

Instrumented ultrasonic tracking is used to improve needle localization during ultrasound guidance of minimally invasive percutaneous procedures. Here, it is implemented with transmitted ultrasound pulses from a clinical ultrasound imaging probe, which is detected by a fiber-optic hydrophone integrated into a needle. The detected transmissions are then reconstructed to form the tracking image. Two challenges are considered with the current implementation of ultrasonic tracking. First, tracking transmissions are interleaved with the acquisition of B-mode images, and thus, the effective B-mode frame rate is reduced. Second, it is challenging to achieve an accurate localization of the needle tip when the signal-to-noise ratio is low. To address these challenges, we present a framework based on a convolutional neural network (CNN) to maintain spatial resolution with fewer tracking transmissions and enhance signal quality. A major component of the framework included the generation of realistic synthetic training data. The trained network was applied to unseen synthetic data and experimental in vivo tracking data. The performance of needle localization was investigated when reconstruction was performed with fewer (up to eightfold) tracking transmissions. CNN-based processing of conventional reconstructions showed that the axial and lateral spatial resolutions could be improved even with an eightfold reduction in tracking transmissions. The framework presented in this study will significantly improve the performance of ultrasonic tracking, leading to faster image acquisition rates and increased localization accuracy.

High-Dose-Rate Interstitial Brachytherapy for Deeply Situated Gynecologic Tumors Guided by Combination of Transrectal and Transabdominal Ultrasonography: A Technical Note.

Background and PurposeHigh-dose-rate interstitial brachytherapy (HDR-ISBT) is recommended to obtain a better local tumor control for uterine cancer patients in specific situations such as bulky lesions, an extension to the lateral parametrium, or tumors with irregular shapes. Our group uses real-time transrectal ultrasonography (TRUS) to guide freehand interstitial needle insertion. Occasionally, target tumors locate deeper beyond the rectum and cannot be visualized by TRUS. CT can guide needles to deeply located tumors, but in such cases, repeated image obtainment is required to achieve ideal needle localization. In this report, we present nine cases of patients who underwent HDR-ISBT for deeply situated tumors guided by a combination of transrectal and transabdominal ultrasonography (TR/TA-US).Material and MethodsNine uterine cancer patients whose tumors were located deeper than the reach of TRUS and underwent HDR-ISBT guided by TR/TA-US were presented. All nine cases had no distal organ metastasis and underwent external beam radiation therapy (EBRT) to the pelvic region for 45–50.4 Gy in 25–28 fractions followed by boost HDR-ISBT for deeply situated tumors guided by TR/TA-US.ResultsThere were seven cervical cancer and two endometrial cancer patients: six with extensive uterine corpus invasion, one cervical cancer with massive pelvic lymph node metastasis, one cervical cancer with postoperative pelvic recurrence, and one with left ovarian direct tumor invasion. The median follow-up period was 15 months (range 3–28 months). The average clinical target volume at the time of first HDR-ISBT was 131 ml (range 44–335 ml). The linear distance from the vaginal entrance to the deepest part of the tumor at first time brachytherapy of nine cases was 14.0 (9.0–17.0) cm. HDR-ISBT dose fractionation was 24–30 Gy in four or five fractions. Seven out of nine cases had no local recurrence in the follow-up period. One had local in-field recurrence 25 months after HDR-ISBT. Another case with carcinosarcoma could not obtain local control and underwent salvage hysterectomy for a residual uterine tumor 11 months after HDR-ISBT. Four cases had extra-field recurrence in lymph nodes or distant organs.ConclusionsIn brachytherapy for gynecologic malignancies, deeply situated tumors located out of reach of TRUS may obtain favorable local control by HDR-ISBT guided with TR/TA-US.

Practice Patterns of Preoperative Breast and Axillary Localizations

The goal of this survey was to study the current trends of preoperative breast and axillary needle localizations and to understand factors that affect these practice patterns. A 14-question survey was sent out to Society of Breast Imaging physicians on our institution's survey platform with a web link. Survey responses were summarized using percentages or means, and Pearson's chi square test and analysis of variance tests were used for association. The survey response rate was 401 of 2097 (19.1%). Of these responses, 124 of 401 (30.9%) were in academic practice, 222 of 401 (55.4%) in private practice with breast specialization, 24 of 401 (6.0%) in private practice without breast specialization, and 31 of 401 (7.7%) in other types of practices. The use of radioactive seeds was significantly correlated with the practice type, with academic practices more likely to use radioactive seeds. Practices with a higher number of radiologists reading mammography and a higher number of radiologists with breast fellowship training were more likely to use wireless localization devices. Additionally, there was a significant positive correlation between the number of fellowship-trained breast radiologists in a practice, and modalities utilized for localizing breast lesions. This study demonstrates that localization methods for breast and axillary lesions vary across practice types. Academic practices are more likely to utilize wireless localization devices. These findings suggest that there may be barriers for smaller and less specialized practices in implementing the use of newer localization methods.

Computed tomography-guided Sens-cure needle localization for scapular-blocked lung nodules.

The use of preoperative computed tomography (CT) to guide the wedge resection (WR) of lung nodules (LNs) in video-assisted thoracoscopic surgery (VATS) is widely accepted. However, some LNs may be blocked by the scapula and a trans-scapular approach should be used when performing the localization procedures. To investigate the feasibility, safety, and clinical effectiveness of preoperative CT-guided Sens-cure needle (SCN) localization for scapula-blocked LNs (SBLNs). One hundred and eighty patients with LNs who had undergone CT-guided SCN localization before VATS were enrolled in this single-center retrospective study from January 2018 to December 2021. Ten of these patients (5.6%) had SBLNs and underwent localization using the trans-scapular approach. The technical success of localization, together with complications and VATS, was assessed. Data on the 10 patients with 10 SBLNs were analyzed. Scapular puncture was successful in all patients (100%) with no incidence of complications near the scapula. SCN localization was also successful in 100% of patients. The average duration of SCN localization was 12.5 ±4.0 min, with 1 (10%) patient experiencing pneumothorax after localization. The WR success rate was also 100%. Three patients underwent additional lobectomy due to invasive adenocarcinoma. The VATS procedure lasted on average for 97.0 ±56.0 min with an average blood loss of 44.0 ±35.0 ml. Preoperative CT-guided SCN localization using the trans-scapular approach is safe, effective, and highly successful for VATS-guided WR of SBLNs.

“A PROSPECTIVE COMPARATIVE STUDY OF LOCAL STEROID INJECTION VS DRY NEEDLING FOR PLANTAR FASCIITIS”

BACKGROUND: Plantar fasciitis is one of the most common conditions of heel pain among adults. Most common affected age group being 40-60 years and it is a leading cause of occupational impairment. Non-invasive and invasive modalities are the two basic types of treatment. Invasive treatment modalilities like local injections, surgical treatment are advised for patients non-responding to non-invasive conservative treatment modalities. Local Steroid Injection (LSI) is the most common invasive treatment used whereas Dry Needling (DN) is proposed as a new modality of treatment recently. OBJECTIVES: The aim of this study is to evaluate the effectiveness of Dry Needling versus Local Steroid Injection for Plantar Fasciitis using short form of Foot Function Index Revised (FFI-R). METHODS:This is prospective randomized, single blind, controlled study. Fifty patients who were clinically and radiologically (USG) conrmed to have idiopathic plantar fasciitis were enrolled in the study after informed consent. Patients were randomized and assigned into 2 groups of 25 patients each. Group I was managed by Local Steroid Injection (LSI) and Group II was managed by Dry Needling (DN). Patients were followed every 4 weeks up to 12 weeks. They were assessed clinically and functionally based on short form of FFI-R CONCLUSION: Short form of Foot Function Index Revised (FFI-R) is a quick, reliable and patient friendly outcome measurement tool for plantar fasciitis. Both Local Corticosteroid Injection and Dry Needling are effective treatment in refractory cases of Plantar Fasciitis in adjunct to non-invasive conservative treatment modalities. Dry Needling is a safe and reliable procedure for treating refractory cases of Plantar Fasciitis. Even though corticosteroid injection is the most effective treatment for short term symptomatic relief (at 4 weeks), it is found that outcomes of Dry Needling are comparable with the efcacy of corticosteroid injection in the medium term follow-up (12 weeks). Dry Needling has greater physiological compatibility than corticosteroid injection in terms of ability to induce possible healing process in plantar fasciitis and devoid of any long term complication associated with corticosteroid injection.

Percutaneous Electromagnetic Transthoracic Nodule Localization for Ground Glass Nodules.

BackgroundA recent increase in the incidental detection of ground glass nodules (GGNs) has created a need for improved diagnostic accuracy in screening for malignancies. However, surgical diagnosis remains challenging, especially via video-assisted thoracoscopic surgery (VATS). Herein, we present the efficacy of a novel electrical navigation system for perioperative percutaneous transthoracic nodule localization.MethodsEighteen patients with GGNs who underwent electromagnetic navigated percutaneous transthoracic needle localization (ETTNL), followed by 1-stage diagnostic wedge resections via VATS between January and December 2020, were included in the analysis. Data on patient characteristics, nodules, procedures, and pathological diagnoses were collected and retrospectively reviewed.ResultsOf the 18 nodules, 17 were successfully localized. Nine nodules were pure GGNs, and the remaining 9 were part-solid GGNs. The median nodule size was 9.0 mm (range, 4.0–20.0 mm); and the median depth from the visceral pleura was 5.2 mm (range, 0.0–14.4 mm). The median procedure time was 10 minutes (range, 7–20 minutes). The final pathologic results showed benign lesions in 3 cases and malignant lesions in 15 cases.ConclusionPerioperative ETTNL appears to be an effective method for the localization of GGNs, providing guidance for a 1-stage VATS procedure.

Omission of Planning CT Reduces Patient Radiation Exposure during CT-Guided Bone Marrow Biopsy and Aspiration.

The purpose of this study is to evaluate the impact of eliminating a preprocedural planning computed tomography during CT-guided bone marrow biopsy on the technical aspects of the procedure, including patient dose, sample quality, procedure time, and CT fluoroscopy usage. Retrospective analysis of 109 patients between 1 June 2018 and 1 January 2021 was performed. Patients were grouped based on whether they received a planning CT scan. Relative radiation exposure was measured using dose-length product (DLP). Secondary metrics included number of CT fluoroscopic acquisitions until target localization, total number of CT fluoroscopic acquisitions, biopsy diagnostic yield, and procedure time. A total of 43 bone marrow biopsies with planning CT scans (Group 1) and 66 bone marrow biopsies without planning CT scans (Group 2) were performed. The average total DLP for Group 1 and Group 2 was 268.73 mGy*cm and 50.92 mGy*cm, respectively. The mean radiation dose reduction between the groups was 81% (p < 0.0001). Significantly more CT fluoroscopy acquisitions were needed for needle localization in Group 2 than Group 1 (p < 0.0001). Total number of CT fluoroscopy acquisitions was four for Group 1 and eight for Group 2 (p = 0.0002). There was no significant difference between the groups in procedure time or diagnostic yield. Patients without a planning CT scan received more fluoroscopic CT acquisitions but overall were exposed to significantly less radiation without an increase in procedure time.

Arthroscopic Repair of a Posterior Midcapsular Rupture Causing Posterior Shoulder Instability

Background: Gross posterior instability is rare and when found likely has an injury or deficiency to the posterior static restraints of shoulder associated with it. Traditionally, injuries to the posterior capsule have been difficult to diagnose and visualize with magnetic resonance imaging preoperatively, and very little literature regarding arthroscopic repair of posterior capsular tears exists currently. Indications: We present a repair of a posterior midcapsular and posterior labral tear in a 26-year-old man with recurrent left posterior shoulder instability using a novel all–arthroscopic technique. Technique Description: We performed a shoulder arthroscopy in a lateral decubitus position with the arm at 45° of abduction using standard posterior viewing and anterior working portals. Diagnostic arthroscopy revealed a large posterior midcapsular rupture approximately 2 cm lateral to the glenoid with an associated posterior labral tear. We created an accessory posterolateral portal with needle localization that was outside the capsular defect yet allowed access to the posterior labrum. Anatomic closure of the capsular tear was achieved arthroscopically with 3 interrupted No. 2 nonabsorbable sutures in a side–to–side fashion. Posterior labral repair and capsular shift were done to further address the instability using 2 knotless all–suture anchors percutaneously placed at the 7 o'clock and 9 o'clock position. We closed the posterior portal with a combination of curved and penetrating suture passers. Incisions were closed with interrupted 4-0 nylon. Postoperatively, the patient was placed in an ultra–sling for 4 weeks before physical therapy. We allowed light strengthening at 8 weeks, full strengthening at 12 weeks, and estimated return to sport at 4 months. Results: At 6 months postoperatively, the patient has regained symmetric motion, full strength, and has no residual pain or instability. Conclusion: Gross posterior instability is a rare and difficult condition to diagnose and manage. If no significant labral injuries are identified, injury to the posterior capsule must be considered and full assessment should be done when visualizing from the anterior portal. Repair of the posterior capsule is necessary and can be achieved all arthroscopically with this technique.

Automatic and accurate needle detection in 2D ultrasound during robot-assisted needle insertion process.

Robot-assisted needle insertion guided by 2D ultrasound (US) can effectively improve the accuracy and success rate of clinical puncture. To this end, automatic and accurate needle-tracking methods are important for monitoring puncture processes, avoiding the needle deviating from the intended path, and reducing the risk of injury to surrounding tissues. This work aims to develop a framework for automatic and accurate detection of an inserted needle in 2D US image during the insertion process. We propose a novel convolutional neural network architecture comprising of a two-channel encoder and single-channel decoder for needle segmentation using needle motion information extracted from two adjacent US image frames. Based on the novel network, we further propose an automatic needle detection framework. According to the prediction result of the previous frame, a region of interest of the needle in the US image was extracted and fed into the proposed network to achieve finer and faster continuous needle localization. The performance of our method was evaluated based on 1000 pairs of US images extracted from robot-assisted needle insertions on freshly excised bovine and porcine tissues. The needle segmentation network achieved 99.7% accuracy, 86.2% precision, 89.1% recall, and an F1-score of 0.87. The needle detection framework successfully localized the needle with a mean tip error of 0.45 ± 0.33mm and a mean orientation error of 0.42° ± 0.34° and achieved a total processing time of 50ms per image. The proposed framework demonstrated the capability to realize robust, accurate, and real-time needle localization during robot-assisted needle insertion processes. It has a promising application in tracking the needle and ensuring the safety of robotic-assisted automatic puncture during challenging US-guided minimally invasive procedures.

Localization and Control of Magnetic Suture Needles in Cluttered Surgical Site with Blood and Tissue.

Real-time visual localization of needles is necessary for various surgical applications, including surgical automation and visual feedback. In this study we investigate localization and autonomous robotic control of needles in the context of our magneto-suturing system. Our system holds the potential for surgical manipulation with the benefit of minimal invasiveness and reduced patient side effects. However, the nonlinear magnetic fields produce unintuitive forces and demand delicate position-based control that exceeds the capabilities of direct human manipulation. This makes automatic needle localization a necessity. Our localization method combines neural network-based segmentation and classical techniques, and we are able to consistently locate our needle with 0.73 mm RMS error in clean environments and 2.72 mm RMS error in challenging environments with blood and occlusion. The average localization RMS error is 2.16 mm for all environments we used in the experiments. We combine this localization method with our closed-loop feedback control system to demonstrate the further applicability of localization to autonomous control. Our needle is able to follow a running suture path in (1) no blood, no tissue; (2) heavy blood, no tissue; (3) no blood, with tissue; and (4) heavy blood, with tissue environments. The tip position tracking error ranges from 2.6 mm to 3.7 mm RMS, opening the door towards autonomous suturing tasks.

RETRACTED ARTICLE: An intelligent controller for ultrasound-based venipuncture through precise vein localization and stable needle insertion

RETRACTED ARTICLE: An intelligent controller for ultrasound-based venipuncture through precise vein localization and stable needle insertion

Intramuscular Injections and Dry Needling within Masticatory Muscles in Management of Myofascial Pain. Systematic Review of Clinical Trials.

Background: Myofascial pain is an important cause of disability among the whole population, and it is a common symptom of temporomandibular joint disorders (TMDs). Its management techniques vary widely; however, in recent years, there has been a growing interest especially in needling therapies within masticatory muscles, due to their simplicity and effectiveness in pain reduction. Methods: The construction of the following study is based on PICOS and PRISMA protocols. A systematic literature search was conducted based on the PubMed and BASE search engines. Searching the abovementioned databases yielded a total of 367 articles. The screening procedure and analysis of full texts resulted in the inclusion of 28 articles for detailed analysis. Results: According to analyzed data, clinicians manage myofascial pain either with wet or dry needling therapies. The most thoroughly studied approach that prevails significantly within the clinical trials is injecting the botulinum toxin into the masseter and temporalis. Other common methods are the application of local anesthetics or dry needling; however, we notice the introduction of entirely new substances, such as platelet-rich plasma or collagen. In the analyzed articles, the target muscles for the needling therapies are most commonly localized by manual palpation although there are a variety of navigational support systems described: EMG, MRI or EIP electrotherapy equipment, which often aid the access to located deeper lateral and medial pterygoid muscle. Conclusions: Needling therapies within masticatory muscles provide satisfactory effects while being simple, safe and accessible procedures although there still is a need for high quality clinical trials investigating especially injections of non-Botox substances and needling within lateral and medial pterygoid muscles.

Adaptation and validation of a voxel based energy transport model for conifer species

A spatially explicit energy balance model previously developed for deciduous trees was extended to account for physical differences in conifer species. These differences include the emission and scattering of radiation in needles compared to leaves as well as the boundary-layer conductance for needles. To validate the model, an array of sensors was placed in and around two separate isolated Picea pungens trees in a heterogeneous urban environment. Model validation examined components of the local-volume averaged needle energy budget utilizing radiative and turbulent fluxes as the forcing inputs. Analysis focused on the model's ability to reproduce integrated upward shortwave and longwave radiation, local radiation attenuation through the tree crown, and local needle surface temperature. The model performed quite well with R2 values above 0.9 for calculated versus measured integrated upward longwave and shortwave radiation and above 0.87 for needle surface temperature. The high level of agreement with experimental measurements was only possible with the modifications made to the boundary layer conductance for needles.