3D ultrasound registration-based visual servoing for neurosurgical navigation

Abstract

Purpose We present a fully image-based visual servoing framework for neurosurgical navigation and needle guidance. The proposed servo-control scheme allows for compensation of target anatomy movements, maintaining high navigational accuracy over time, and automatic needle guide alignment for accurate manual insertions. Method Our system comprises a motorized 3D ultrasound (US) transducer mounted on a robotic arm and equipped with a needle guide. It continuously registers US sweeps in real time with a pre-interventional plan based on CT or MR images and annotations. While a visual control law maintains anatomy visibility and alignment of the needle guide, a force controller is employed for acoustic coupling and tissue pressure. We validate the servoing capabilities of our method on a geometric gel phantom and real human anatomy, and the needle targeting accuracy using CT images on a lumbar spine gel phantom under neurosurgery conditions. Results Despite the varying resolution of the acquired Oliver Zettinig and Benjamin Frisch have contributed equally to this work. Yu-Mi Ryang and Nassir Navab have contributed equally to this work.B Oliver Zettinig 3D sweeps, we achieved direction-independent positioning errors of 0.35±0.19 mm and 0.61 • ±0.45 • , respectively. Our method is capable of compensating movements of around 25 mm/s and works reliably on human anatomy with errors of 1.45 ± 0.78 mm. In all four manual insertions by an expert surgeon, a needle could be successfully inserted into the facet joint, with an estimated targeting accuracy of 1.33±0.33 mm, superior to the gold standard. Conclusion The experiments demonstrated the feasibility of robotic ultrasound-based navigation and needle guidance for neurosurgical applications such as lumbar spine injections.

Robotic platforms for ultrasound diagnostics and treatment

“…Zettinig et al presented a fully image-based visual servoing implementation for neurosurgical intervention and needle guidance [17]. They used 3D US transducer, mounted on a robotic arm, extended with a needle guide.…”

GPU implementation of photoacoustic short-lag spatial coherence imaging for improved image-guided interventions

“…11,[19][20][21] Alternatively, a fiber or fiber bundle may be operated independently to provide photoacoustic-based anatomical guidance in the absence of surgical tools. [22][23][24] With the rise of robotic surgery, [25][26][27][28] we can reasonably envision photoacoustic system components that are robotically controlled to enable more successful surgeries and interventions. 29 A summary of the procedures required to achieve photoacoustic-based visual servoing, in particular, is shown in Fig.…”

“…With the rise of robotic surgery, 25 – 28 we can reasonably envision photoacoustic system components that are robotically controlled to enable more successful surgeries and interventions. 29 A summary of the procedures required to achieve photoacoustic-based visual servoing, in particular, is shown in Fig.…”

Autonomous Applied Robotics: Ultrasound-Based Robot-Assisted Needle Insertion System Concept and Development

“…Zettinig et al published an 3D US based visual servoing implementation for neurosurgical interventions [9]. They used an KUKA LBR iiwa 7 R800 robot arm and Ultrasonix Sonix RP system with 4DC7-3/40 Convex 4D transducer.…”