University of Groningen
Flexible needle steering for computed tomography-guided interventions
Shahriari, Navid
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Publication date:
2018
Link to publication in University of Groningen/UMCG research database
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Shahriari, N. (2018). Flexible needle steering for computed tomography-guided interventions. University of
Groningen.
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Propositions
Accompanying the Ph.D. thesis Flexible Needle Steering
for Computed Tomography-Guided Interventions To be defended by Navid Shahriari on December 12,2018
1. High targeting accuracy can be achieved through flexible needle steering using a robotic system (Chapters 2 and 4).
2. Bulky-metallic robotic systems, which are not ideal for operation room, can be transformed into small CT-compatible robotic systems (Chapters 2 and 4).
3. The tracking information of two (or more) real-time tracking devices can be fused in order to build a robust tracking algorithm, even if one (or more) system(s) fails momentarily (Chapter 3).
4. Real-time tracking information of one device can be fused with intermittent tracking information of another device in order to achieve a robust tracking algorithm
(Chapter 4).
5. Physiological motions are challenging to compensate for during an operation, however, using correct set of sensory data along with correct control architecture can solve this issue (Chapter 5).
6. Adding more sensors to a system does not always mean better accuracy. There is a trade of between the complexity and accuracy (Chapter 5).
7. The procedure for the lung or liver biopsies can be made safer, shorter in time and more accurate using a CT-compatible needle insertion device (Chapter 6).
8. Feasibility of flexible needle steering has been proved through extensive experiments, it is time to validate it on human subjects and let the clinicians and patients benefit from it. 9. Technology, such as the one presented in this thesis, is a tool to help the clinicians and patients. The clinicians will not be replaced by robots and they remain as the core and responsible in healthcare domain.
10. Accurate navigation and shape reconstruction of surgical tools are the key for future developments of surgical technologies.
11. PhD research is a project, and the PhD candidate should act as the project leader. 12. There are no incurable diseases - only the lack of will. There are no worthless herbs - only
the lack of knowledge – Avicenna
13. Yesterday I was clever, so I wanted to change the world. Today I am wise, so I am changing myself – Rumi.
