Experimental evaluation of ultrasound-guided 3D needle steering in biological tissue

Abstract

Purpose In this paper, we present a system capable of automatically steering bevel-tip flexible needles under ultrasound guidance towards stationary and moving targets in gelatin phantoms and biological tissue while avoiding stationary and moving obstacles. We use three-dimensional (3D) ultrasound to track the needle tip during the procedure. Methods Our system uses a fast sampling-based path planner to compute and periodically update a feasible path to the target that avoids obstacles. We then use a novel control algorithm to steer the needle along the path in a manner that reduces the number of needle rotations, thus reducing tissue damage. We present experimental results for needle insertion procedures for both stationary and moving targets and obstacles for up to 90 mm of needle insertion. Results We obtained a mean targeting error of 0.32 ± 0.10 mm and 0.38 ± 0.19 mm in gelatin-based phantom and biological tissue, respectively. Conclusions The achieved submillimeter accuracy suggests that our approach is sufficient to target the smallest lesions (ϕ2 mm) that can be detected using state-of-the-art ultrasound imaging systems.

A Hand-Held Assistant for Semiautomated Percutaneous Needle Steering

“…Updating the model parameters as the needle is inserted requires the ultrasound probe to move in synchrony with the needle tip during insertion [32], [33]. However, automated ultrasound probe motion is rarely available in operating rooms.…”

The Existing Methods for Motion Control of Flexible Needles along a Curved Path as Part of Robotic Systems for Brachytherapy

“…Dehghan and Salcudean (2009) optimized the angle and depth of needle insertion, using a 3D tissue model including several 'targets'. Abayazid et al (2014) conducted an interesting experimental study where they used the 3D algorithms for planning and control of the needle trajectory under ultrasound guidance, which remains one of the most affordable imaging techniques in the clinical practice. Needle insertion procedure using proposed robotic control system is shown in Fig.…”

Flexible Needle Steering in Moving Biological Tissue With Motion Compensation Using Ultrasound and Force Feedback

“…In this case, targeting can be achieved by orienting the force such that the needle deflects towards the target. This is often done with bevel-tipped needles by rotating the needle around its shaft such that the bevel points towards the target [4]. The radius of curvature is, however, more difficult to control, since it depends on the geometry of the tip and the relative stiffness between the needle and the tissue.…”

“…The axial rotation of the needle is tracked using the motor encoder. A 3D ultrasound probe 4 with reference frame {F U S } is used to track an artificial target in the phantom 5 . Motion is applied to the phantom using a second robot arm 6 and motion compensation is performed using a force sensor 7 with the reference frame {F F S }.…”