3D ultrasound-guided robotic steering of a flexible needle via visual servoing

Abstract

Abstract-We present a method for the three-dimensional (3D) steering of a flexible needle under 3D ultrasound guidance. The proposed solution is based on a duty-cycling visual servoing strategy we designed in a previous work, and on a new needle tracking algorithm for 3D ultrasound. The flexible needle modeled as a polynomial curve is tracked during automatic insertion using particle filtering. This new tracking algorithm enables real-time closed-loop needle control with 3D ultrasound feedback. Experimental results of a targeting task demonstrate the robustness of the proposed tracking algorithm and the feasibility of 3D ultrasound-guided needle steering.

Needle steering fusing direct base manipulation and tip-based control

“…The tracking algorithm should be adapted for ultrasound images, as for example by using the one presented in [19]. One drawback with the current formulation of the control law is that little deformation reduction is achieved when the task comes in opposition with the targeting task.…”

Personalized, relevance-based Multimodal Robotic Imaging and augmented reality for Computer Assisted Interventions

“…Such solutions could include acting robots, which either assist the surgeons by augmenting their dexterity or enabling precise automatic actions based on large sets of quantitative multimodal information in collaboration or under supervision of surgeons. We presented 440 our first attempts in this direction by providing a solution for automatic needle steering, combining robotic ultrasound and a robotic arm inserting a biopsy needle [34,35]. In such a setting, the physician would maintain control over the procedures, while the superior precision of robotic systems allow for a precise needle insertion, guided by the ultrasound data in real-time.…”

Flexible Needle Steering in Moving Biological Tissue With Motion Compensation Using Ultrasound and Force Feedback

“…There has been a lot of developments on US needle tracking in needle steering domain. Researchers used 2D [13]- [15] and 3D [16]- [19] US to track the needle. There has also been several studies where US images were used for target tracking purposes.…”