Kalman filter-based EM-optical sensor fusion for needle deflection estimation

Jiang, Baichuan; Gao, Wenpeng; Kacher, Daniel F.; Nevo, Erez; Fetics, Barry; Lee, Thomas C.; Jayender, Jagadeesan

doi:10.1007/s11548-018-1708-8

Cited by 10 publications

(9 citation statements)

References 30 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…However, ultrasound image guidance may be inaccurate up to 2.5 mm (Neshat et al, 2013), and further, needles may deflect (bend) unexpectedly during insertion. Clinicians can often counteract deflection when it is observed, however, the frequency and causes of deflection are not well understood, though there are efforts to anticipate and estimate needle deflection (e.g., Jiang et al (2018)). We note that despite these uncertainties, clinical treatments, like our models presented here, are not designed with these uncertainties in consideration.…”

Section: Tdo Resultsmentioning

confidence: 99%

Inverse planning for radiofrequency ablation in cancer therapy using multiple damage models

Kulkarni-Thaker

Fenster

2021

Preprint

View full text Add to dashboard Cite

Radiofrequency ablation (RFA) offers localized and minimally invasive treatment of small-to-medium sized inoperable tumors. In RFA, tissue is ablated with high temperatures obtained from electrodes (needles) inserted percutaneously or via an open surgery into the target. RFA treatments are generally not planned in a systematic way, and do not account for nearby organs-at-risk (OARs), potentially leading to sub-optimal treatments and inconsistent treatment quality. We therefore develop a mathematical framework to design RFA treatment plans that provide complete ablation while minimizing healthy tissue damage. Borrowing techniques from radiosurgery inverse planning, we design a two-stage approach where we first identify needle positions and orientations, called needle orientation optimization, and then compute the treatment time for optimal thermal dose delivery, called thermal dose optimization. Several different damage models are used to determine both target and OAR damage. We present numerical results on three clinical case studies. Our findings indicate a need for high source voltage for short tip length (conducting portion of the needle) or fewer needles, and low source voltage for long tip length or more needles to achieve full coverage. Further, more needles yields a larger ablation volume and consequently more OAR damage. Finally, the choice of damage model impacts the source voltage, tip length, and needle quantity.

show abstract

Section: Tdo Resultsmentioning

confidence: 99%

Inverse planning for radiofrequency ablation in cancer therapy using multiple damage models

Kulkarni-Thaker

Fenster

2021

Preprint

View full text Add to dashboard Cite

show abstract

“…According our ablation studies on the effect of AE we found that utilizing the CL approach has a considerable impact on the overall accuracy of the line parameter predictions. The key element in the CL approach is the excitation function's definition (8). We examined the impact of the AE module on feature maps with more prominent distinguishing features for needle detection.…”

Section: Discussionmentioning

confidence: 99%

“…The selected line (𝑙 𝑖 8 ) is considered to match with all lines in spatial neighborhood of 𝓌 2 and 𝓌 4 in 𝒯 2 and 𝒯 4 respectively. Finally, all the matched lines are averaged to get a more precise and noise-free estimation of the needle shaft.…”

Section: 𝑆𝑒𝑛𝑠𝑖𝑡𝑖𝑣𝑖𝑡𝑦 (𝑇𝑃𝑅) =mentioning

confidence: 99%

“…We proposed an adaptive version of the excitation factor instead of a fixed monotonic function [47]. Rather than employing a smooth, monotonically decreasing function (8) to alter the attention coefficient, we degraded the parameter stepwise, after a few epochs with no enhancement in validation accuracy. This strategy improves the network's convergence as well as its overall performance.…”

Section: B Attention Mechanismmentioning

confidence: 99%

See 1 more Smart Citation

Spatiotemporal analysis of speckle dynamics to track invisible needle in ultrasound sequences using Convolutional Neural Networks

Zade

Aziz

Majedi

et al. 2022

Preprint

View full text Add to dashboard Cite

ObjectiveAccurate needle placement to the target point is critical for ultrasound interventions like biopsies and epidural injections. However, aligning the needle to the thin plane of the transducer is a challenging issue as it leads to the decay of visibility by the naked eye. Therefore, we have developed a CNN-based framework to track the needle using the spatiotemporal features of speckle dynamics.MethodsThere are three key techniques to optimize the network for our application. First, we proposed a motion field estimation network (RMF) to extract spatiotemporal features from the stack of consecutive frames. We also designed an efficient network based on the state-of-the-art Yolo framework (nYolo). Lastly, the Assisted Excitation (AE) module was added at the neck of the network to handle imbalance problem.ResultsTen freehand ultrasound sequences are collected by inserting an injection needle steeply into the Ultrasound Compatible Lumbar Epidural Simulator and Femoral Vascular Access Ezono test phantoms. We divided the dataset into two sub-categories. In the second category, in which the situation is more challenging and the needle is totally invisible statically, the angle and tip localization error were 2.43±1.14° and 2.3±1.76 mm using Yolov3+RMF+AE and 2.08±1.18° and 2.12±1.43 mm using nYolo+RMF+AE.Conclusion and significanceThe proposed method has the potential to track the needle in a more reliable operation compared to other state-of-the-art methods and can accurately localize it in 2D B-mode US images in real-time, allowing it to be used in in current ultrasound intervention procedures.

show abstract

“…The two Omega 7 devices are physically connected by Ethernet but with time delay intendedly set to 200ms to quantitatively evaluate the tracking performance. For the contact experiment, a two-layer synthetic phantom is used to mimic the human tissue [57,58], which is made by extra soft PVC (80% soft PVC + 20% softener) and mediumdensity PVC (70% soft + 30% hard PVC). The master is running under Mac OS and the slave robot is running under Linux Ubuntu 12.04.…”

Section: Experimental Studies and Analysismentioning

confidence: 99%

A Scaled Bilateral Teleoperation System for Robotic-Assisted Surgery with Time Delay

Guo

Liu

Poignet

2018

J Intell Robot Syst

View full text Add to dashboard Cite

Your article is protected by copyright and all rights are held exclusively by Springer Nature B.V.. This e-offprint is for personal use only and shall not be self-archived in electronic repositories. If you wish to self-archive your article, please use the accepted manuscript version for posting on your own website. You may further deposit the accepted manuscript version in any repository, provided it is only made publicly available 12 months after official publication or later and provided acknowledgement is given to the original source of publication and a link is inserted to the published article on Springer's website. The link must be accompanied by the following text: "The final publication is available at link.springer.com".

show abstract

Kalman filter-based EM-optical sensor fusion for needle deflection estimation

Abstract: This work established a novel sensor fusion scheme that incorporates model information, which enables real-time tracking of needle deflection with MRI compatibility, in a free-hand operating setup.

Cited by 10 publications

References 30 publications

Inverse planning for radiofrequency ablation in cancer therapy using multiple damage models

Inverse planning for radiofrequency ablation in cancer therapy using multiple damage models

Spatiotemporal analysis of speckle dynamics to track invisible needle in ultrasound sequences using Convolutional Neural Networks

A Scaled Bilateral Teleoperation System for Robotic-Assisted Surgery with Time Delay

Contact Info

Product

Resources

About