The goal of PITON is to develop a steerable MRI compatible robotic instrument for dexterous navigation and accurate tissue characterization in percutaneous therapies. Topics in PITON are developing a steerable instrument, characterizing the interaction between instrument and tissue, developing sensors that are integrated in the instrument, developing actuators, and developing a control system. TU Delft works together with TNO, UMC Utrecht, Deam, Hemolab, and TUe in this project. The contribution of TU Delft within PITON will be in the development and validation of a model for shape and force estimation based on fiber Bragg gratings (optical strain sensors) and in the development and validation of a sensorized, MRI compatible needle. An overview of the project is available here.
- Kirsten R. Henken, Jenny Dankelman, John J. van den Dobbelsteen, Lun K. Cheng, Maurits S. van der Heijden. Error Analysis of FBG-based Shape Sensors for Medical Needle Tracking. Transactions on Mechatronics, 2013.
- Henken K, D van Gerwen, J Dankelman, JJ van den Dobbelsteen. Accuracy of needle position measurements using fiber Bragg gratings. MITAT, 2012
- Targeting tumors. TU Delta, March 2012