Dual-robot ultrasound-guided needle placement: closing the planning-imaging-action loop

Kojcev, Risto; Fuerst, Bernhard; Zettinig, Oliver; Fotouhi, Javad; Lee, Sing Chun; Frisch, B.; Taylor, Russell H.; Sinibaldi, Edoardo; Navab, Nassir

doi:10.1007/s11548-016-1408-1

Cited by 51 publications

(32 citation statements)

References 27 publications

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“…Various robotic hardware solutions have been proposed. Researchers have adopted robotic platforms originally aimed at collaborative scenarios in industrial settings, such as Universal Robots UR-series [12], [13] or the KUKA LWR [9] and LBR iiwa [14], [15]. A commercial robotic manipulator has been released (LBR Med, KUKA AG, Augsburg, Germany) which is suitable for use in clinical environments due to its conformity with medical device safety (ISO 60601) and medical software regulations (ISO 62304).…”

Section: Introductionmentioning

confidence: 99%

Design and Integration of a Parallel, Soft Robotic End-Effector for Extracorporeal Ultrasound

Lindenroth

Housden

Wang

et al. 2020

IEEE Trans. Biomed. Eng.

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In this work we address limitations in state-of-theart ultrasound robots by designing and integrating the first soft robotic system for ultrasound imaging. It makes use of the inherent qualities of soft robotics technologies to establish a safe, adaptable interaction between ultrasound probe and patient. We acquire clinical data to establish the movement ranges and force levels required in prenatal foetal ultrasound imaging and design our system accordingly. The end-effectors stiffness characteristics allow for it to reach the desired workspace while maintaining a stable contact between ultrasound probe and patient under the determined loads. The system exhibits a high degree of safety due to its inherent compliance in the transversal direction. We verify the mechanical characteristics of the end-effector, derive and validate a kinetostatic model and demonstrate the robots controllability with and without external loading. The imaging capabilities of the robot are shown in a tele-operated setting on a foetal phantom. The design exhibits the desired stiffness characteristics with a high stiffness along the ultrasound transducer and a high compliance in lateral direction. Twist is constrained using a braided mesh reinforcement. The model can accurately predict the end-effector pose with a mean error of about 6% in position 7% in orientation. The derived controller is, with an average position error of 0.39mm able to track a target pose efficiently without and with externally applied loads. Finally, the images acquired with the system are of equally good quality compared to a manual sonographer scan.

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Section: Introductionmentioning

confidence: 99%

Design and Integration of a Parallel, Soft Robotic End-Effector for Extracorporeal Ultrasound

Lindenroth

Housden

Wang

et al. 2020

IEEE Trans. Biomed. Eng.

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“…In a gelatin model, a robotic needle placement unit can perform biopsies of embedded peas with high accuracy using manually‐generated US images . A two‐robot system, with one robot tracking the needle using Kalman and RANSAC algorithms to guide the needle by the other, reaches a very high accuracy of 1 mm . The Da Vinci Surgical System Robot (Intuitive Surgical, Sunnyvale, CA, USA), normally used for prostate or other abdominal surgery, can also perform a single nerve block and insert a catheter in a phantom, after initial manual positioning of the US probe .…”

Section: Resultsmentioning

confidence: 99%

Improving needle tip identification during ultrasound-guided procedures in anaesthetic practice

et al. 2017

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Ultrasound guidance is becoming standard practice for needle-based interventions in anaesthetic practice, such as vascular access and peripheral nerve blocks. However, difficulties in aligning the needle and the transducer can lead to incorrect identification of the needle tip, possibly damaging structures not visible on the ultrasound screen. Additional techniques specifically developed to aid alignment of needle and probe or identification of the needle tip are now available. In this scoping review, advantages and limitations of the following categories of those solutions are presented: needle guides; alterations to needle or needle tip; three- and four-dimensional ultrasound; magnetism, electromagnetic or GPS systems; optical tracking; augmented (virtual) reality; robotic assistance; and automated (computerised) needle detection. Most evidence originates from phantom studies, case reports and series, with few randomised clinical trials. Improved first-pass success and reduced performance time are the most frequently cited benefits, whereas the need for additional and often expensive hardware is the greatest limitation to widespread adoption. Novice ultrasound users seem to benefit most and great potential lies in education. Future research should focus on reporting relevant clinical parameters to learn which technique will benefit patients most in terms of success and safety.

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“…Robotische Assistenzsysteme sind im Bereich der Sonografie auf experimentellem Niveau bereits etabliert [6,7]. Auch automatische Steuerungen bis hin zur vollautomatischen Punktion von Zielstrukturen wurden bereits realisiert [8]. Die entwickelten Verfahren bieten bisher jedoch für die praktische Anwendung wenig Translationspotenzial, da einige kritische Probleme wie beispielsweise der automatische Ausgleich von Patientenbewegungen und dynamische Organmodelle noch nicht adressiert werden.…”

Section: Digitalisierung In Der Interventionellen Diagnostik Und Therunclassified

Digitalisierung in der Gastroenterologie

2019

Z Gastroenterol

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Dual-robot ultrasound-guided needle placement: closing the planning-imaging-action loop

Cited by 51 publications

References 27 publications

Design and Integration of a Parallel, Soft Robotic End-Effector for Extracorporeal Ultrasound

Design and Integration of a Parallel, Soft Robotic End-Effector for Extracorporeal Ultrasound

Improving needle tip identification during ultrasound-guided procedures in anaesthetic practice

Digitalisierung in der Gastroenterologie

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