Spinal Needle Navigation by Tracked Ultrasound Snapshots

Ungi, Tamás; Abolmaesumi, Purang; Jalal, R.; Welch, Mattea; Ayukawa, I.; Nagpal, Simrin; Lassó, András; Jaeger, Melanie; Borschneck, Daniel; Fichtinger, Gabor; Mousavi, Parvin

doi:10.1109/tbme.2012.2209881

Cited by 54 publications

(19 citation statements)

References 22 publications

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“…The simplest form of ultrasound-guided needle insertion is a visualization of the needle path, which is calibrated to a guide rigidly attached to the transducer, on the live 2D image [11,12]. Since such approaches do not alleviate limited target visibility and poor contrast issues, optical or electromagnetic tracking systems were introduced, allowing for freehand 3D acquisitions that can be registered to preoperative imaging data such as CT [13,14]. Assuming that the patient has not moved, features such as vertebrae contours can be then highlighted on the live US image along with the insertion path of a tool, which is also coupled with a tracking target.…”

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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“…Tracked ultrasound (TUS) has been successfully used in medical imaging and image-guided interventions. In particular, it has been tested in spinal injection navigation [17] and vertebra localization for spine surgery [18].…”

Section: Scoliosis Monitoring Techniquesmentioning

confidence: 99%

Portable Optically Tracked Ultrasound System for Scoliosis Measurement

Carbajal

Gómez

Fichtinger

et al. 2015

Lecture Notes in Computational Vision and Biomechanics

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Monitoring spinal curvature in adolescent kyphoscoliosis requires regular radiographic examinations; however, the applied ionizing radiation increases the risk of cancer. Ultrasound imaging is favorable over X-ray because it does not emit ionizing radiation. It has been shown in the past that tracked ultrasound can be used to localize vertebral transverse processes as landmarks along the spine to measure curvature angles. Tests have been performed with spine phantoms, but scanning protocol, tracking system, data acquisition and processing time has not been considered in human subjects yet. In this paper, a portable optically tracked ultrasound system for scoliosis measurement is presented. It provides a simple way to acquire data in the clinical environment with the aim of comparing results to current X-ray-based measurement. The workflow of the procedure was tested on volunteers. The customized open-source software is shared with the community as part of our effort to make a clinically practical system.

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“…EM tracking was again used to relate CT and US information after a landmark-based registration was performed, and to provide the location of the needle accordingly. Ungi et al [33] introduced a guidance system that used tracked US snapshots for guiding needle insertion. This technique allows the physician to visualize the target structure and manipulate the needle intuitively at the same time.…”

Section: Introductionmentioning

confidence: 99%