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

Abstract

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.

External Power-Driven Microrobotic Swarm: From Fundamental Understanding to Imaging-Guided Delivery

“…First, efforts should be dedicated to the integration of systems, including hardware, software, and autonomous control. Several existing techniques can be integrated to assist delivery and therapy procedures, such as catheters and endoscopes. , To real-time control microswarm in vivo and monitor the therapy procedure, user interfaces that integrate both microrobotic control and feedback processing systems are required. Autonomous control offers a high manipulation efficiency and helps medical practitioners from tedious, repeated work.…”

Shared control strategy for needle insertion into deformable tissue using inverse Finite Element simulation

“…Automatic needle steering methods have the ability to compensate for such complex interactions (see [16] for a recent review) and therefore received significant interest in the last two decades. Methods have been proposed for both symmetric [17], [18], [19], [20], [21] and beveledtip needles [22], [20], [23], [24]. Chevrie et al [23] relie on a needle/tissue interaction model combined with base manipulation and tip deflection to steer a beveled-tip needle.…”