Soft-Tip Stylet and Saline Instillation Technique: Making Difficult Percutaneous CT-Guided Biopsies Possible

Finding a safe needle path during percutaneous computed tomography-guided biopsy is sometimes difficult due to concern for injuring a vital structure. Saline instillation technique has been used to displace the structure out of the way. Another useful tool is a soft-tip stylet. A soft-tip also referred as blunt-tip stylet for the introducer cannula is provided with some coaxial biopsy sets in additional to standard sharp-tip stylet. While the sharp-tip stylet is fitted with introducer cannula for piercing skin, muscle, and fascia, a soft-tip stylet may be used for avoiding injury to structures like vessels and bowel loops especially while advancing introducer cannula through fatty tissue. Additionally, it is also useful for avoiding injury to nerves and giving pleural anesthesia. Although its use has been described in medical literature, many radiologists are still not utilizing this tool to its full potential. In this educational exhibit, various applications of soft-tip stylet and saline instillation technique have been depicted using representative cases.

Phantom study for comparison between computed tomography- and C-Arm computed tomography-guided puncture applied by residents in radiology

Purpose Comparison of puncture deviation and puncture duration between computed tomography (CT)- and C-arm CT (CACT)-guided puncture performed by residents in training (RiT). Methods In a cohort of 25 RiTs enrolled in a research training program either CT- or CACT-guided puncture was performed on a phantom. Prior to the experiments, the RiT’s level of training, experience playing a musical instrument, video games, and ball sports, and self-assessed manual skills and spatial skills were recorded. Each RiT performed two punctures. The first puncture was performed with a transaxial or single angulated needle path and the second with a single or double angulated needle path. Puncture deviation and puncture duration were compared between the procedures and were correlated with the self-assessments. Results RiTs in both the CT guidance and CACT guidance groups did not differ with respect to radiologic experience (p = 1), angiographic experience (p = 0.415), and number of ultrasound-guided puncture procedures (p = 0.483), CT-guided puncture procedures (p = 0.934), and CACT-guided puncture procedures (p = 0.466). The puncture duration was significantly longer with CT guidance (without navigation tool) than with CACT guidance with navigation software (p < 0.001). There was no significant difference in the puncture duration between the first and second puncture using CT guidance (p = 0.719). However, in the case of CACT, the second puncture was significantly faster (p = 0.006). Puncture deviations were not different between CT-guided and CACT-guided puncture (p = 0.337) and between the first and second puncture of CT-guided and CACT-guided puncture (CT: p = 0.130; CACT: p = 0.391). The self-assessment of manual skills did not correlate with puncture deviation (p = 0.059) and puncture duration (p = 0.158). The self-assessed spatial skills correlated positively with puncture deviation (p = 0.011) but not with puncture duration (p = 0.541). Conclusion The RiTs achieved a puncture deviation that was clinically adequate with respect to their level of training and did not differ between CT-guided and CACT-guided puncture. The puncture duration was shorter when using CACT. CACT guidance with navigation software support has a potentially steeper learning curve. Spatial skills might accelerate the learning of image-guided puncture. Key Points: Citation Format

Needle insertion planning for obstacle avoidance in robotic biopsy

Understanding the underlying pathology in different tissues and organs is crucial when fighting pandemics like COVID-19. During conventional autopsy, large tissue sample sets of multiple organs can be collected from cadavers. However, direct contact with an infectious corpse is associated with the risk of disease transmission and relatives of the deceased might object to a conventional autopsy. To overcome these drawbacks, we consider minimally invasive autopsies with robotic needle placement as a practical alternative. One challenge in needle based biopsies is avoidance of dense obstacles, including bones or embedded medical devices such as pacemakers. We demonstrate an approach for automated planning and visualising suitable needle insertion points based on computed tomography (CT) scans. Needle paths are modeled by a line between insertion and target point and needle insertion path occlusion from obstacles is determined by using central projections from the biopsy target to the surface of the skin. We project the maximum and minimum CT attenuation, insertion depth, and standard deviation of CT attenuation along the needle path and create two-dimensional intensity-maps projected on the skin. A cost function considering these metrics is introduced and minimized to find an optimal biopsy needle path. Furthermore, we disregard insertion points without sufficient room for needle placement. For visualisation, we display the color-coded cost function so that suitable points for needle insertion become visible. We evaluate our system on 10 post mortem CTs with six biopsy targets in abdomen and thorax annotated by medical experts. For all patients and targets an optimal insertion path is found. The mean distance to the target ranges from (49.9 ± 12.9)mm for the spleen to (90.1 ± 25.8)mm for the pancreas.

Fluoroscopy-guided robotic biopsy intervention system

Fluoroscopy-guided percutaneous biopsy interventions are mostly performed with traditional free-hand technique. The practical experience of the surgeon influences the duration of the intervention and the radiation exposure for patients and him-/herself. Especially when the placement of heavy and long instruments in double oblique angles is required, manual techniques reach their technical limitations very fast. The system presented herein automatizes the needle positioning using only two 2D scans while the robotic platform guides the intervention. These two images were used to plan the needle pathway and to estimate the pose of the robot using a custom-made end-effector with embedded registration fiducials. The estimated pose was subsequently used to transfer the planed needle path to the robot’s coordinate system and finally to compute the movement parameters in order to align the robot with this plan. To evaluate the system, two phantoms with 11 different targets on it were developed. The targets were punctured, and the application accuracy was measured quantitatively. The solution achieved sub-millimetric accuracy for needle placement (min. 0.23, max. 1.04 in mm). Our approach combines the advantages of fluoroscopic imaging and ensures automatic needle alignment with highly reduced X-ray radiation. The proposed system shows promising potential to be a guidance platform that is easy to combine with available fluoroscopic imaging systems and provides valuable help to the physician in more difficult interventions.

High-Score US-Suspicious Subcentimeter Thyroid Nodules: What Factors Affect Adequate Sampling of US-Guided Fine-Needle Aspiration Biopsy?

Background. Fine-needle aspiration biopsy (FNAB) is diagnostic standard for thyroid nodules. However, the influence of adequate sample rate of US-guided FNAB for subcentimeter thyroid nodules is not known well. Objectives. To assess the factors affecting adequate sample rate of US-guided FNAB for subcentimeter thyroid nodules. Methods. Three hundred and forty-nine consecutive US-guided FNAB procedures were performed in 344 patients with subcentimeter thyroid nodules. The adequate sample rate was analyzed for all nodules on the basis of nodule-related and technical factors. The factors affecting adequate sample rate of US-guided FNAB for subcentimeter thyroid nodules were determined by multivariate logistic regression. Results. The adequate sample rate increased with larger nodules (72.7% for 3–6 mm nodules and 84.9% for 7–10 mm nodules (P=0.007)). The adequate sample rate was 63.9%, 81.3%, and 90.6% in nodules with macrocalcifcation, microcalcification, and no calcification, respectively (P<0.001). The adequate sample rate was 71.8% for biopsies performed with a perpendicular needle path and 85.0% with a parallel needle path (P=0.004). The significant factors affecting adequate sample rate of US-guided FNAB for subcentimeter thyroid nodules were nodule size (P<0.001; odds ratio (OR) for 7–10 mm nodules was approximately 3.0 times higher than that for 3–6 mm nodules), calcification (P<0.001; OR for nodules without calcification was approximately 5.3 times higher than that for the nodules with macrocalcification), and needle path (P=0.044; OR for the use of the parallel needle path was about 1.8 times higher than that for the perpendicular needle path). Conclusion. Nodule size, calcification, and needle path were the determinants of sample adequacy. The adequate sample rate was higher in larger nodules, in nodules without calcification, and upon using a parallel needle path for biopsy.