3D Steering of a Flexible Needle by Visual Servoing

Krupa, Alexandre

doi:10.1007/978-3-319-10404-1_60

Cited by 6 publications

(5 citation statements)

References 12 publications

(16 reference statements)

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“…Using static transducers, ultrasound servoing has in prior art mostly been employed for needle tracking and robotic steering [22,23]. Because the developed control schemes can broadly be translated to robotically steered US probes, a full automation of dedicated parts of surgeries comes into reach, for instance by simultaneous tracking of both anatomy and instruments [24].…”

Section: Related Workmentioning

confidence: 99%

3D ultrasound registration-based visual servoing for neurosurgical navigation

et al. 2017

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Purpose We present a fully image-based visual servoing framework for neurosurgical navigation and needle guidance. The proposed servo-control scheme allows for compensation of target anatomy movements, maintaining high navigational accuracy over time, and automatic needle guide alignment for accurate manual insertions. Method Our system comprises a motorized 3D ultrasound (US) transducer mounted on a robotic arm and equipped with a needle guide. It continuously registers US sweeps in real time with a pre-interventional plan based on CT or MR images and annotations. While a visual control law maintains anatomy visibility and alignment of the needle guide, a force controller is employed for acoustic coupling and tissue pressure. We validate the servoing capabilities of our method on a geometric gel phantom and real human anatomy, and the needle targeting accuracy using CT images on a lumbar spine gel phantom under neurosurgery conditions. Results Despite the varying resolution of the acquired Oliver Zettinig and Benjamin Frisch have contributed equally to this work. Yu-Mi Ryang and Nassir Navab have contributed equally to this work.B Oliver Zettinig 3D sweeps, we achieved direction-independent positioning errors of 0.35±0.19 mm and 0.61 • ±0.45 • , respectively. Our method is capable of compensating movements of around 25 mm/s and works reliably on human anatomy with errors of 1.45 ± 0.78 mm. In all four manual insertions by an expert surgeon, a needle could be successfully inserted into the facet joint, with an estimated targeting accuracy of 1.33±0.33 mm, superior to the gold standard. Conclusion The experiments demonstrated the feasibility of robotic ultrasound-based navigation and needle guidance for neurosurgical applications such as lumbar spine injections.

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Section: Related Workmentioning

confidence: 99%

3D ultrasound registration-based visual servoing for neurosurgical navigation

et al. 2017

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“…Krupa et al [11] further explored visual servoing towards an application to ultrasound by using ultrasonic speckle as a main characteristic feature to compensate for potential patient motion both in-plane and out-of-plane with respect to the ultrasound probe. These concepts were later adapted to fully automatic needle insertion under ultrasound guidance [22] and automatic probe positioning in order to allow for an optimal skin coupling with respect to the current position [23]. Recently, a servoing approach using live ultrasound to ultrasound registration was presented, targeting at screw placement in spine surgery [12], [24].…”

Section: A Automatic Robotic Support Systemsmentioning

confidence: 99%

Towards MRI-Based Autonomous Robotic US Acquisitions: A First Feasibility Study

Hennersperger

Fuerst

Virga

et al. 2017

IEEE Trans. Med. Imaging

151

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Robotic ultrasound has the potential to assist and guide physicians during interventions. In this work, we present a set of methods and a workflow to enable autonomous MRI-guided ultrasound acquisitions. Our approach uses a structured-light 3D scanner for patient-to-robot and image-to-patient calibration, which in turn is used to plan 3D ultrasound trajectories. These MRI-based trajectories are followed autonomously by the robot and are further refined online using automatic MRI/US registration. Despite the low spatial resolution of structured light scanners, the initial planned acquisition path can be followed with an accuracy of 2.46 ± 0.96 mm. This leads to a good initialization of the MRI/US registration: the 3D-scan-based alignment for planning and acquisition shows an accuracy (distance between planned ultrasound and MRI) of 4.47 mm, and 0.97 mm after an online-update of the calibration based on a closed loop registration.

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“…We recently proposed a 3D duty-cycling control strategy for robotic needle steering [14]. In this method we control continuously (at the rate of the duty-cycle period) the two lateral angular velocities (n) ω x , (n) ω y and the insertion velocity (n) v z of the needle in the needle tip frame F n .…”

Section: D Ultrasound-based Needle Steeringmentioning

confidence: 99%

“…This method was tested in a simulation environment. We recently proposed a new duty-cycling approach which permits nonplanar 3D trajectories [14]. Based on the visual servoing framework [15], this approach does not require any path planning.…”

Section: Introductionmentioning

confidence: 99%

“…In contrast with the RANSACKalman approach, the area of interest is defined intrinsically by the model, and the critical thresholding step is avoided. In addition, we use this new needle tracking algorithm as a closed-loop feedback for our recent duty-cycling control strategy [14], leading to a 3D ultrasound-guided needle steering technique.…”

Section: Introductionmentioning

confidence: 99%

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3D ultrasound-guided robotic steering of a flexible needle via visual servoing

Chatelain

Krupa

Navab

2015

2015 IEEE International Conference on Robotics and Automation (ICRA)

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Abstract-We present a method for the three-dimensional (3D) steering of a flexible needle under 3D ultrasound guidance. The proposed solution is based on a duty-cycling visual servoing strategy we designed in a previous work, and on a new needle tracking algorithm for 3D ultrasound. The flexible needle modeled as a polynomial curve is tracked during automatic insertion using particle filtering. This new tracking algorithm enables real-time closed-loop needle control with 3D ultrasound feedback. Experimental results of a targeting task demonstrate the robustness of the proposed tracking algorithm and the feasibility of 3D ultrasound-guided needle steering.

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3D Steering of a Flexible Needle by Visual Servoing

Cited by 6 publications

References 12 publications

3D ultrasound registration-based visual servoing for neurosurgical navigation

3D ultrasound registration-based visual servoing for neurosurgical navigation

Towards MRI-Based Autonomous Robotic US Acquisitions: A First Feasibility Study

3D ultrasound-guided robotic steering of a flexible needle via visual servoing

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