Needle Tracking and Deflection Prediction for Robot-Assisted Needle Insertion Using 2D Ultrasound Images

Abstract

In many types of percutaneous needle insertion surgeries, tissue deformation and needle deflection can create significant difficulties for accurate needle placement. In this paper, we present a method for automatic needle tracking in 2D ultrasound (US) images, which is used in a needle–tissue interaction model to estimate current and future needle tip deflection. This is demonstrated using a semi-automatic needle steering system. The US probe can be controlled to follow the needle tip or it can be stopped at an appropriate position to avoid tissue deformation of the target area. US images are used to fully parameterize the needle-tissue model. Once the needle deflection reaches a pre-determined threshold, the robot rotates the needle to correct the tip’s trajectory. Experimental results show that the final needle tip deflection can be estimated with average accuracies between 0.7[Formula: see text]mm and 1.0[Formula: see text]mm for insertions with and without rotation. The proposed method provides surgeons with improved US feedback of the needle tip deflection and minimizes the motion of the US probe to reduce tissue deformation of the target area.

Multi-rate unscented Kalman filtering for pose and curvature estimation in 3D ultrasound-guided needle steering

“…The estimator performance is therefore satisfying for prediction starting from 25% of the total insertion length. In spite of more difficult conditions (thin needles, 3D steering, 3D US), these prediction results seem to be more satisfactory than those in [6] and [21]. However this comparison must be put into perspective, as the insertion length and experimental setup differ from these works (see Appendix A for more details).…”

“…Dynamic model-based deflection estimation has also been proposed for 2D [13] and 3D [8] steering. The approach looks promising and has been validated using 2D ultrasound feedback [21].…”

Geometric control of 3D needle steering in soft-tissue

“…Here, needle insertion experiments are performed using the setup introduced in [18] to evaluate the designed needle steering controller. In the experiments, a ultrasound probe is robotically moved to follow the needle tip.…”

“…In the experiments, a ultrasound probe is robotically moved to follow the needle tip. The procedure introduced in [18 The needle is steered to reach a target at the depth of 140 mm while avoiding a spherical obstacle with a diameter of 2 mm placed at the depth of 70 mm. The 1st scenario is similar to conventional needle insertion in prostate brachytherapy, where the needle should be inserted along a straight line within the tissue.…”

A Hand-Held Assistant for Semiautomated Percutaneous Needle Steering

“…Once the needle is found, the region of interest is repositioned around the updated needle position estimate. The complete algorithm is described in [30].…”