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

Abayazid, Momen; Moreira, Pedro; Shahriari, Navid; Zompas, A.; Misra, Sarthak

doi:10.1142/s2424905x16400055

Cited by 6 publications

(5 citation statements)

References 40 publications

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“…It allows for simple and affordable real-time imaging. However, because the needle is barely visible in ultrasound images, several solutions [7], [8], involve the robotized translation of a 2D probe (also called 2.5D) so that the needle tip is always in the best detection configuration. Such a translation may not always be clinically feasible.…”

Section: Both Modelingmentioning

confidence: 99%

Towards 3D Ultrasound Guided Needle Steering Robust to Uncertainties, Noise, and Tissue Heterogeneity

Lapouge

Poignet

Troccaz

2021

IEEE Trans. Biomed. Eng.

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This paper presents a new solution for 3D steering of flexible needles guided by 3D B-mode ultrasound imaging. It aims to realize a robust steering, by accounting for uncertainties, noise and tissue heterogeneities, while limiting tissue-related disturbances. The proposed solution features interconnected state observer, automatic needle tip segmentation and path planning algorithms. Measurement quality, state uncertainties and tissue heterogeneity are considered for robust needle steering with helical paths of variable curvature. Fast replanning allows for adaptability to unexpected disturbances. An experimental validation has been done through 62 insertions of 24 Gauge bevel-tip nitinol needles in various tissue. Results are promising, characterized by mean targeting errors of less than 1 mm in homogeneous phantoms, 1.5 ± 0.9 mm in heterogeneous phantoms and 1.7 ± 0.8 mm in ex-vivo tissue. This new approach is a step towards a precise and robust patient-specific gesture.

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Section: Both Modelingmentioning

confidence: 99%

Towards 3D Ultrasound Guided Needle Steering Robust to Uncertainties, Noise, and Tissue Heterogeneity

Lapouge

Poignet

Troccaz

2021

IEEE Trans. Biomed. Eng.

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“…Recent developments in steerable needle technology have shown clinical potential to improve the outcomes of different procedures such as lung access [1], target access in the breast [2], and improving brachytherapy with steerable needles [3]. The current needle steering approaches consist of bevel-tipped steering, pre-bend steering, duty-cycle steering, external lateral manipulation [4], and active cannulae [5], [6].…”

Section: Introductionmentioning

confidence: 99%

Fracture-directed Waterjet Needle Steering: Design, Modeling, and Path Planning

Babaiasl

Yang

Boccelli

et al. 2020

2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)

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Steerable needle technology has the promise of improving outcomes by enhancing the accuracy of different therapies and biopsies, as they can be steered to a target location around obstacles. Achieving small radius of curvature and being able to control both radius of curvature and tip travel are of paramount importance in steerable needles to accomplish the increase in efficacy of the medical procedures. In this paper, we present a new class of the steerable needles, which we call waterjet-directed steerable needles, where the underlying principle is to first control the direction of tissue fracture with waterjet, after which the needle will follow during subsequent insertion. In this paper, the direction of the tissue fracture is controlled by an angled waterjet nozzle and control of the water velocity, and then the flexible Nitinol needle follows. It is shown that by changing the velocity of waterjet and thus depth of cut, radius of curvature can be controlled. A discrete-step kinematic model is used to model the motion of the waterjet steerable needle. This model consist of two parts: (1) the mechanicsbased model predicts the cut-depth of waterjet in soft tissue based on soft tissue properties, waterjet diameter, and water exit velocity, and (2) a discrete-step kinematic unicycle model of the steerable needle travel. Path planning is accomplished through a genetic algorithm, and the efficacy of waterjet steerable needle is tested for different paths. The key finding of the paper is that the radius of curvature of the waterjet steerable needle can be controlled by a fixed waterjet tip angle and varying water exit velocity to control the depth of cut.

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“…Most ultrasound (US) based needle steering works concentrate on 2D US probes [1], [2], [3]. This does not allow to simultaneously track both the target and the needle during 3D needle steering in the images.…”

Section: Introductionmentioning

confidence: 99%

Efficient target tracking for 3D ultrasound-guided needle steering

Lapouge

Fiard

Poignet

et al. 2020

Medical Imaging 2020: Image-Guided Procedures, Robotic Interventions, and Modeling

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3D ultrasound imaging can be used in the context of robotic needle steering to reach a physical target with a flexible, steerable needle. During the insertion, the tissue may be deformed by the inserted needle, patient breathing or external force application. It may therefore be necessary to track intra-operatively the displacement of the target. Most ultrasound based needle steering works concentrate on 2D ultrasound probes [1], [2], [3] which do not allow to simultaneously track both the target and the needle during 3D needle steering. Physical target tracking in 3D ultrasound-guided needle steering is seldom carried out [4][5], and may require computational power that is precious for intra-operative needle steering. This paper proposes a new approach for computationally inexpensive and precise tracking of a moving target in 3D Bmode ultrasound volumes. It is based on the interconnection of intensity-based tracking and motion estimation algorithms. The intensity-based tracking consists in a 3D extension of the Diamond Shape block matching algorithm, used here for the first time in 3D ultrasound volumes for tissue tracking. The motion estimation is done by linear Kalman filtering. It predicts the next target position and ensures faster and more robust convergence of the Diamond Shape block matching algorithm. An experimental validation on ex-vivo tissue is proposed with promising tracking precision (estimated average error of 0.3mm) while significantly lowering the computational cost when compared to classical block matching based tracking.

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

Cited by 6 publications

References 40 publications

Towards 3D Ultrasound Guided Needle Steering Robust to Uncertainties, Noise, and Tissue Heterogeneity

Towards 3D Ultrasound Guided Needle Steering Robust to Uncertainties, Noise, and Tissue Heterogeneity

Fracture-directed Waterjet Needle Steering: Design, Modeling, and Path Planning

Efficient target tracking for 3D ultrasound-guided needle steering

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