A Real-time Needle Tracking Algorithm with First-frame Linear Structure Removing in 2D Ultrasound-guided Prostate Therapy

Tang, Chenliang; Xie, Gaosheng; Omisore, Olatunji Mumini; Xiong, Jing; Xia, Zeyang

doi:10.1109/robio49542.2019.8961638

Cited by 3 publications

(5 citation statements)

References 18 publications

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“…The robot's dual arm flexibly allowed for angular punctures, as the robot holds a needle insert module in one hand and an ultrasound probe in the other. Using a tip tracking algorithm and the cooperation of both arms, the position of the tip can be tracked in real time, while simultaneously reducing tissue deformation and improving puncture accuracy 39 . In the future, the robot's motion planning and control strategy needs further research to improve the accuracy of puncture.…”

Section: Image‐guided Robots For Prostate Brachytherapymentioning

confidence: 99%

“…The mechanical structure of US, MRI/US fusion and CT/US fusion‐guided robotic systems primarily includes a position module, a needle insertion module, and an US probe‐mounting module. Most US‐guided robots currently use 2D TRUS probes 11,13,28,32–34,38–40 and a minority use expensive 3D TRUS probes 29,35,58 . The resulting 2D US images can be reconstructed into 3D volumes manually or using a probe stepper.…”

Section: Safety Considerations For Robot Designmentioning

confidence: 99%

“…The robot can be manually controlled by the urologist at any time, whose final approval is required before each essential step is performed mechanically. The GUI can also display the needle tip position in real time, allowing the urologist to actively adjust the needle tip position and avoid excessive puncture errors caused by withdrawing and re‐inserting the needle 39 . This approach reduces the risk of oedema caused by excessive needle insertion times.…”

Section: Safety Considerations For Robot Designmentioning

confidence: 99%

“…As such, redundant safety mechanisms are required for BT robots. The following practices are often implemented to minimize the effects of a system malfunction: 47 probes 11,13,28,[32][33][34][38][39][40] and a minority use expensive 3D TRUS probes. 29,35,58 The resulting 2D US images can be reconstructed into 3D volumes manually or using a probe stepper.…”

Section: Conditional Robotic Structurementioning

confidence: 99%

“…The GUI can also display the needle tip position in real time, allowing the urologist to actively adjust the needle tip position and avoid excessive puncture errors caused by withdrawing and re-inserting the needle. 39 This approach reduces the risk of oedema caused by excessive needle insertion times. The robotic system should be able to automatically compensate for puncture errors due to needle deflection and tissue deformation, allowing the needle to reach the desired target position with the required accuracy.…”

Section: Robot Needle Position Modulementioning

confidence: 99%

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Image‐guided robots for low dose rate prostate brachytherapy: Perspectives on safety in design and use

Dai

Zhang

Jiang

et al. 2021

Robotics Computer Surgery

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Background Image‐guided brachytherapy (BT) robots can be used to assist urologists during seed implantation, thereby improving therapeutic effects. However, safety issues must be considered in the design of such robots, including their structure, mechanical movements, function, materials and actuators. Previous reviews focused on image‐guided prostate BT robot technology (e.g., imaging and robot navigation technology and robot system introduction); however, this review is the first time that safety issues have been investigated as part of a study on low‐dose‐rate (LDR) prostate BT robots. Methods Multiple electronic databases were searched for LDR prostate BT robot articles published during the last 24 years (1996–2020), with a particular focus on two aspects of robots: safety in design and use. Results We retrieved a total of 26 LDR prostate BT robots. BT robots were divided into ultrasound, computed tomography, magnetic resonance imaging and fusion‐guided systems. The conditions associated with each system were then analysed to develop a set of requirements for the safety of prostate BT robots. Recommendations are also provided for future BT robot development. Conclusions The transrectal approach for prostate seed implantation is safer than the traditional transperineal approach. Research into the control of a steerable needle by the urologists and robot, the needle deflection model, and robotic automated needle changing and seed injection equipment should be pursued in a future study.

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Section: Image‐guided Robots For Prostate Brachytherapymentioning

confidence: 99%

Section: Safety Considerations For Robot Designmentioning

confidence: 99%

Section: Safety Considerations For Robot Designmentioning

confidence: 99%

Section: Conditional Robotic Structurementioning

confidence: 99%

Section: Robot Needle Position Modulementioning

confidence: 99%

See 3 more Smart Citations

Image‐guided robots for low dose rate prostate brachytherapy: Perspectives on safety in design and use

Dai

Zhang

Jiang

et al. 2021

Robotics Computer Surgery

View full text Add to dashboard Cite

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A Mechanism-Image Fusion Approach to Calibration of an Ultrasound-Guided Dual-Arm Robotic Brachytherapy System

Xiong

Ibrahim

et al. 2021

IEEE/ASME Trans. Mechatron.

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Advancements in needle visualization enhancement and localization methods in ultrasound: a literature review

Kimbowa,

Pieters,

Tadayon

et al. 2024

Art Int Surg

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Ultrasound guidance plays a central role in numerous minimally invasive procedures involving percutaneous needle insertion, ensuring safe and accurate needle placement. However, it encounters two primary challenges: (1) aligning the needle with the ultrasound beam and (2) visualizing the needle even when correctly aligned. In this review, we offer a concise overview of the physics foundation underlying these challenges and explore various approaches addressing specific challenges, with a focus on software-based solutions. We further distinguish between hardware-based and software-based solutions, placing a stronger emphasis on the latter. The incorporation of artificial intelligence into these methods to enhance needle visualization and localization is briefly discussed. We identify state-of-the-art needle detection methods, showcasing submillimeter precision in tip localization and orientation. Additionally, we provide insights into potential future directions, aiming to facilitate the translation of these advanced methods into the clinic. This article serves as a comprehensive guide, offering insights into challenges, evolving solutions, and prospective research directions to effectively address these issues.

show abstract

A Real-time Needle Tracking Algorithm with First-frame Linear Structure Removing in 2D Ultrasound-guided Prostate Therapy

Cited by 3 publications

References 18 publications

Image‐guided robots for low dose rate prostate brachytherapy: Perspectives on safety in design and use

Image‐guided robots for low dose rate prostate brachytherapy: Perspectives on safety in design and use

A Mechanism-Image Fusion Approach to Calibration of an Ultrasound-Guided Dual-Arm Robotic Brachytherapy System

Advancements in needle visualization enhancement and localization methods in ultrasound: a literature review

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