A new duty-cycling approach for 3D needle steering allowing the use of the classical visual servoing framework for targeting tasks

Krupa, Alexandre

doi:10.1109/biorob.2014.6913793

Cited by 13 publications

(9 citation statements)

References 20 publications

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“…This has been extended to 3D using different approaches in [17] and [18]. The ratio between the natural curvature K nat of the needle and the effective curvature K ef f has been shown in [9] to be linearly dependent on the duty cycle DC, i.e.…”

Section: B Duty Cycling Controlmentioning

confidence: 99%

“…In our case, we define a fixed insertion length L DC for the cycles and allow the use of different insertion speeds for the two phases. This way we can avoid the infinite cycle duration obtained when DC goes to zero as stated in [18]. We use duty cycle control when the desired tip velocity v d t is almost aligned with the needle tip axis.…”

Section: B Duty Cycling Controlmentioning

confidence: 99%

“…Using the same approach as in [18], we also define an accumulation angle for the rotation around the tip axis equal to σ (see eq. (14)), such that the bevel is in the adequate direction before starting the translation phase.…”

Section: B Duty Cycling Controlmentioning

confidence: 99%

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Needle steering fusing direct base manipulation and tip-based control

Chevrie

Krupa

Babel

2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

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Abstract-Works on robotic needle steering often consider either tip-based control of flexible beveled tip needles or control of the bending of symmetric tip needles. In this paper a control law for needle steering which uses both direct manipulation of the needle base and the control of the tip deflection, is proposed. A 3D model of a beveled tip needle is used to determine the base motion that is needed to obtain the desired tip motion. The needle-tissue interaction model uses local virtual springs placed along the needle shaft and takes into account the interaction forces at the bevel. Online estimation and update of this model parameters is performed via visual feedback. The low level controller uses the task function framework to allow control of the tip velocity. Additionally duty cycling method is used if a reduction of the natural deflection of the needle tip is needed. Finally an experimental targeting task in a gelatin phantom is presented for preliminary validation of the framework. The method provided sub-millimeter accuracy on a target that would be unreachable using only tip-based control.

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Section: B Duty Cycling Controlmentioning

confidence: 99%

Section: B Duty Cycling Controlmentioning

confidence: 99%

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Needle steering fusing direct base manipulation and tip-based control

Chevrie

Krupa

Babel

2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

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“…Several researchers designed robotic ultrasound systems for lesion and needle detection insertion procedures [11][12][13]. An example of an early study that explores the advantage of robotic ultrasound systems is the development of Hippocrate, a robotic arm for medical applications with force feedback [14].…”

Section: Robotic Control Of Ultrasound Transducersmentioning

confidence: 99%

Three-Dimensional Needle Steering Using Automated Breast Volume Scanner (ABVS)

Abayazid

Moreira

Shahriari

et al. 2016

J. Med. Robot. Res.

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Robot-assisted and ultrasound-guided needle insertion systems assist in achieving high targeting accuracy for different applications. In this paper, we introduce the use of Automated Breast Volume Scanner (ABVS) for scanning different soft tissue phantoms. The ABVS is a commercial ultrasound transducer used for clinical breast scanning. A preoperative scan is performed for three-dimensional (3D) target localization and shape reconstruction. The ultrasound transducer is also adapted to be used for tracking the needle tip during steering toward the localized targets. The system uses the tracked needle tip position as a feedback to the needle control algorithm. The bevel-tipped flexible needle is steered under ABVS guidance toward a target while avoiding an obstacle embedded in soft tissue phantom. We present experimental results for 3D reconstruction of different convex and non-convex objects with different sizes. Mean Absolute Distance (MAD) and Dice’s coefficient methods are used to evaluate the 3D shape reconstruction algorithm. The results show that the mean MAD values are 0.30[Formula: see text][Formula: see text]0.13[Formula: see text]mm and 0.34[Formula: see text][Formula: see text]0.17[Formula: see text]mm for convex and non-convex shapes, respectively, while mean Dice values are 0.87[Formula: see text]0.06 (convex) and 0.85[Formula: see text]0.06 (non-convex). Three experimental cases are performed to validate the steering system. Mean targeting errors of 0.54[Formula: see text][Formula: see text]0.24, 1.50[Formula: see text][Formula: see text]0.82 and 1.82[Formula: see text][Formula: see text]0.40[Formula: see text]mm are obtained for steering in gelatin phantom, biological tissue and a human breast phantom, respectively. The achieved targeting errors suggest that our approach is sufficient for targeting lesions of 3[Formula: see text]mm radius that can be detected using clinical ultrasound imaging systems.

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“…Wood et al [15] proposed a duty-cycled rotation method based on that the effective curvature of the flexible needle was affected by the ratio of the rotation period to the cycle period. Some works [16][17][18] were done to perfect the duty-cycled rotation method. Though the mentioned methods dealt with the problem of driving flexible needle in 3D tissue, there were some drawbacks, such as no regard for the unreachability of the target [13] , based on geometrical intuition [14] and a lot of rotation in inserting process [15] .…”

Section: Introductionmentioning

confidence: 99%

Driving flexible needles in 3D tissue without obstacles

Huo

Zhao

Han

et al. 2016

2016 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)

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The bevel-tip flexible needle is an improvement of the clinical puncture needle and has the potential to reduce surgery traumas and improve puncture accuracy. Due to the nonholonomic kinematics model, it is difficult to drive flexible needles to a target precisely. In this paper, a driving method is proposed to steer flexible needles to a target in 3-D environment without obstacles. In addition, a real-time closed-loop control system is set up based on the method. The proposed method needs a priori knowledge of model parameter, which is obtained by offline identifying and the needle tip's position and attitude. We obtain the tip's position with an image-guided system and employ UKF (Unscented Kalman Filter) to estimate the needle tip's attitude. Simulations verify that the driving method is precise and robust. The tip error will be confined to 0.5mm when the insertion distance is 120mm.

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A new duty-cycling approach for 3D needle steering allowing the use of the classical visual servoing framework for targeting tasks

Cited by 13 publications

References 20 publications

Needle steering fusing direct base manipulation and tip-based control

Needle steering fusing direct base manipulation and tip-based control

Three-Dimensional Needle Steering Using Automated Breast Volume Scanner (ABVS)

Driving flexible needles in 3D tissue without obstacles

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