Vibrating interventional device detection using real-time 3-D color Doppler

Fronheiser, Matthew P.; Idriss, Salim F.; Wolf, Patrick D.; Smith, Stephen W.

doi:10.1109/tuffc.2008.798

Cited by 44 publications

(34 citation statements)

References 38 publications

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“…Vibrating solid objects have also been shown to produce recognizable Doppler signals [32]. This concept has been applied to localize straight needles [33]–[35] and needle tips [36] in 2-D ultrasound, as well as instruments in cardiac interventions [37], [38] and other applications [39], [40]. This technique has not previously been applied to segment highly curved needles.…”

Section: Prior Workmentioning

confidence: 99%

3-D Ultrasound-Guided Robotic Needle Steering in Biological Tissue

Adebar

Fletcher

Okamura

2014

IEEE Trans. Biomed. Eng.

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Robotic needle steering systems have the potential to greatly improve medical interventions, but they require new methods for medical image guidance. Three-dimensional (3-D) ultrasound is a widely available, low-cost imaging modality that may be used to provide real-time feedback to needle steering robots. Unfortunately, the poor visibility of steerable needles in standard grayscale ultrasound makes automatic segmentation of the needles impractical. A new imaging approach is proposed, in which high-frequency vibration of a steerable needle makes it visible in ultrasound Doppler images. Experiments demonstrate that segmentation from this Doppler data is accurate to within 1–2 mm. An image-guided control algorithm that incorporates the segmentation data as feedback is also described. In experimental tests in ex vivo bovine liver tissue, a robotic needle steering system implementing this control scheme was able to consistently steer a needle tip to a simulated target with an average error of 1.57 mm. Implementation of 3-D ultrasound-guided needle steering in biological tissue represents a significant step toward the clinical application of robotic needle steering.

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Section: Prior Workmentioning

confidence: 99%

3-D Ultrasound-Guided Robotic Needle Steering in Biological Tissue

Adebar

Fletcher

Okamura

2014

IEEE Trans. Biomed. Eng.

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“…Those systems utilize Doppler signals too, but to determine whether the needle is within a vessel and whether the vessel is an artery or vein. Finally, navigation by real-time three-dimensional color Doppler scans of interventional devices has been reported (Fronheiser et al 2008), based on the vibration of the interventional instrument or a portion of it. The mechanical vibrations need to be strong enough to induce an effect of a moving object and, thus, visualization of the instrument by a color Doppler overlay.…”

Section: Discussionmentioning

confidence: 99%

Acoustically Active Injection Catheter Guided by Ultrasound: Navigation Tests in Acutely Ischemic Porcine Hearts

Bělohlávek

Katayama

Zarbatany

et al. 2014

Ultrasound in Medicine & Biology

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Catheters are increasingly used therapeutically and investigatively. With complex usage comes a need for more accurate intracardiac localization than traditional guidance can provide. An injection catheter navigated by ultrasound was designed and then tested in an open-chest model of acute ischemia in eight pigs. The catheter is made “acoustically active” by a piezoelectric crystal near its tip, electronically controlled, vibrating in the acoustic frequency range, and uniquely identifiable using pulsed-wave (PW) Doppler. Another “target” crystal was sutured to the epicardium within the ischemic region. Sonomicrometry was used to measure distances between the two crystals and then compared to measurements from 2D echocardiographic images. Complete data were obtained from 7 pigs, and the correlation between sonomicrometry and ultrasound measurements was excellent (p < 0.0001, ρ = 0.9820), as was the intraclass correlation coefficient (0.96) between 2 observers. These initial experimental results suggest high accuracy of ultrasound navigation of the acoustically active catheter prototype located inside the beating left ventricle.

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“…This theme is retained in the use of piezoelectric buzzers to induce vibrations in a surgical tool [24].…”

Section: Related Workmentioning

confidence: 99%

Guidance of a high dexterity robot under 3D ultrasound for minimally invasive retrieval of foreign bodies from a beating heart

Thienphrapa

Popović

Taylor³

2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

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Particles such as thrombi, bullet fragments, and shrapnel can become trapped in a person's heart after migrating through the venous system, or by direct penetration. These cardiac foreign bodies pose a serious health risk as they can interfere with cardiovascular function. Conventional treatment often requires open heart surgery, cardiopulmonary bypass, and a long incision of the heart muscle, which come with significant risk and recovery time. To circumvent these disadvantages, we propose a minimally invasive surgical approach using 3D ultrasound to guide a dexterous robotic capture device.Analysis of the foreign body trajectory indicates highly erratic motion, rendering a robotic retrieval strategy based on direct pursuit of the tracked target infeasible. To provide a relatively slow robot with the ability to retrieve such a target, we propose alternative strategies based on guiding a robot to a salient capture location, and ambushing the target upon its reappearance. In this paper, we demonstrate the use of 3D transesophageal echocardiography (TEE) in tracking a foreign body in a beating heart phantom, computing a suitable capture location, and guiding a high dexterity robot to secure the target.

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Vibrating interventional device detection using real-time 3-D color Doppler

Cited by 44 publications

References 38 publications

3-D Ultrasound-Guided Robotic Needle Steering in Biological Tissue

3-D Ultrasound-Guided Robotic Needle Steering in Biological Tissue

Acoustically Active Injection Catheter Guided by Ultrasound: Navigation Tests in Acutely Ischemic Porcine Hearts

Guidance of a high dexterity robot under 3D ultrasound for minimally invasive retrieval of foreign bodies from a beating heart

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