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International Journal of Computer Assisted Radiology and Surgery

Erschienen in:

01.06.2016 | Original Article

Dual-robot ultrasound-guided needle placement: closing the planning-imaging-action loop

verfasst von: Risto Kojcev, Bernhard Fuerst, Oliver Zettinig, Javad Fotouhi, Sing Chun Lee, Benjamin Frisch, Russell Taylor, Edoardo Sinibaldi, Nassir Navab

Erschienen in: International Journal of Computer Assisted Radiology and Surgery | Ausgabe 6/2016

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Abstract

Purpose

Precise needle placement is an important task during several medical procedures. Ultrasound imaging is often used to guide the needle toward the target region in soft tissue. This task remains challenging due to the user’s dependence on image quality, limited field of view, moving target, and moving needle. In this paper, we present a novel dual-robot framework for robotic needle insertions under robotic ultrasound guidance.

Method

We integrated force-controlled ultrasound image acquisition, registration of preoperative and intraoperative images, vision-based robot control, and target localization, in combination with a novel needle tracking algorithm. The framework allows robotic needle insertion to target a preoperatively defined region of interest while enabling real-time visualization and adaptive trajectory planning to provide safe and quick interactions. We assessed the framework by considering both static and moving targets embedded in water and tissue-mimicking gelatin.

Results

The presented dual-robot tracking algorithms allow for accurate needle placement, namely to target the region of interest with an error around 1 mm.

Conclusion

To the best of our knowledge, we show the first use of two independent robots, one for imaging, the other for needle insertion, that are simultaneously controlled using image processing algorithms. Experimental results show the feasibility and demonstrate the accuracy and robustness of the process.

Vorheriger Artikel On-demand calibration and evaluation for electromagnetically tracked laparoscope in augmented reality visualization

Nächster Artikel Spectral analysis of the tremor motion for needle detection in curvilinear ultrasound via spatiotemporal linear sampling

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Titel: Dual-robot ultrasound-guided needle placement: closing the planning-imaging-action loop
verfasst von: Risto Kojcev
Bernhard Fuerst
Oliver Zettinig
Javad Fotouhi
Sing Chun Lee
Benjamin Frisch
Russell Taylor
Edoardo Sinibaldi
Nassir Navab
Publikationsdatum: 01.06.2016
Verlag: Springer Berlin Heidelberg
Erschienen in: International Journal of Computer Assisted Radiology and Surgery / Ausgabe 6/2016
Print ISSN: 1861-6410
Elektronische ISSN: 1861-6429
DOI: https://doi.org/10.1007/s11548-016-1408-1

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Abstract

Purpose

Method

Results

Conclusion

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