Visual servoing of a medical ultrasound probe for needle insertion

Mathiassen, Kim; Glette, Kyrre; Elle, Ole Jakob

doi:10.1109/icra.2016.7487520

Cited by 5 publications

(11 citation statements)

References 17 publications

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“…The primary surgical tool around which the US-guided minimally invasive surgical robotics is designed is the asymmetric beveled-tip flexible needle [55]- [62], [64], [78]- [83], [92]- [94], [96]- [100]. Percutaneous needle insertion used for diagnostic and therapeutic applications such as biopsy and brachytherapy is one of the most common minimally invasive surgical procedures [55]- [62], [96]- [97].…”

Section: Surgical Instruments Considered In Us-guided Rmismentioning

confidence: 99%

“…Robots with 6DOFs and 7DOFs are also considered in literature for the manipulation of the US probe in their respective experiments. In one study, a UR5 (which is a 6DOFs lightweight industrial robot arm with rotational joints) is chosen to manipulate the US probe [77], [100]. The advantage of using UR5 robot is that the force exerted by it on any surface can be limited by presetting a threshold, which guarantees the operator and patient's safety [77], [100].…”

Section: Robot Hardware Specifications In Us-guided Rmismentioning

confidence: 99%

“…In one study, a UR5 (which is a 6DOFs lightweight industrial robot arm with rotational joints) is chosen to manipulate the US probe [77], [100]. The advantage of using UR5 robot is that the force exerted by it on any surface can be limited by presetting a threshold, which guarantees the operator and patient's safety [77], [100]. In other studies choosing 6DOFs robots, one can note Viper s650 12 [78] and KUKA KR 6 R9000 sixx 13 [92]- [93] both with all 11 John Hopkins University, Baltimore, MD.…”

Section: Robot Hardware Specifications In Us-guided Rmismentioning

confidence: 99%

“…In this section different control system algorithms for US-guided minimally invasive robotic surgery platforms are discussed. Most notable of the main control algorithms include: position based visual servo control algorithms (PBVS) [51], [55]- [64], [95], [99], [102]- [103], image based visual servo control algorithms (IBVS) [41], [66]- [67], [78], [85]- [90], [96], [100], nonlinear model predictive control [91], motion compensation control for involuntary rhythmic motions (e.g. heartbeat) which often consists of feed-forward Coulomb friction model compensation and backlash inverse compensation [13], [68]- [72], force control algorithms [72], and virtual RCM control algorithm [74], [76].…”

Section: Control Algorithms In Us-guided Rmismentioning

confidence: 99%

See 3 more Smart Citations

3D Shape Estimation Of Tendon-Driven Catheters Using Ultrasound Imaging

Hashemi¹,

Sharifi²,

Tavakkoli³

2022

Preprint

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Active cable/tendon-driven catheters are becoming an established part of the minimally invasive surgical procedures. Therefore, there has been growing interest in literature in estimating the shape of their distal end especially using clinical ultrasound (US) imaging systems. The purpose of this thesis is to use a B-mode US imaging system to design time-efficient, accurate and robust algorithm for 3D shape estimation of tendon-driven catheters. Kalman filter (KF), Adaptive Kalman filter (AKF) and Particle filter (PF) algorithms were developed for this purpose. First, they were applied to a series of simulated US B-mode images where AKF provided the best estimate (error: 0.2 ± 0.1 mm). Second, they were applied to a series of experimentally obtained US B-mode images. Calibration procedures were carried out to calibrate these US images in the experiment’s workspace. The PF was shown to provide the best 3D shape estimate (error: 8.6 ± 0.1 mm). However, since almost the same accuracy could be achieved with AKF in ten times less computational time, AKF was concluded to be the best method, in terms of accuracy and efficiency, to estimate the 3D shape of tendon-driven catheters.

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Section: Surgical Instruments Considered In Us-guided Rmismentioning

confidence: 99%

Section: Robot Hardware Specifications In Us-guided Rmismentioning

confidence: 99%

Section: Robot Hardware Specifications In Us-guided Rmismentioning

confidence: 99%

Section: Control Algorithms In Us-guided Rmismentioning

confidence: 99%

See 2 more Smart Citations

3D Shape Estimation Of Tendon-Driven Catheters Using Ultrasound Imaging

Hashemi¹,

Sharifi²,

Tavakkoli³

2022

Preprint

View full text Add to dashboard Cite

show abstract

“…Their development is supported by the improvement of camera specifications and the increasing computing power of microprocessors and computers. Lately, visual tracking systems have been widely studied for implementation in various sectors, such as manufacturing [1], transportation [2], health [3], military [4], and security [5].…”

Section: Introductionmentioning

confidence: 99%

Design and Implementation of Moving Object Visual Tracking System using μ-Synthesis Controller

et al. 2019

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Considering the increasing use of security and surveillance systems, moving object tracking systems are an interesting research topic in the field of computer vision. In general, a moving object tracking system consists of two integrated parts, namely the video tracking part that predicts the position of the target in the image plane, and the visual servo part that controls the movement of the camera following the movement of objects in the image plane. For tracking purposes, the camera is used as a visual sensor and applied to a 2-DOF (yawpitch) manipulator platform with an eye-in-hand camera configuration. Although its operation is relatively simple, the yaw-pitch camera platform still needs a good control method to improve its performance. In this study, we propose a moving object tracking system on a prototype yaw-pitch platform. A µ-synthesis controller was used to control the movement of the visual servo part and keep the target in the center of the image plane. The experimental results showed relatively good results from the proposed system to work in real-time conditions with high tracking accuracy in both indoor and outdoor environments.

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Deep Learning-Based Photoacoustic Visual Servoing: Using Outputs from Raw Sensor Data as Inputs to a Robot Controller

Gubbi

Bell

2021

2021 IEEE International Conference on Robotics and Automation (ICRA)

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Visual servoing of a medical ultrasound probe for needle insertion

Cited by 5 publications

References 17 publications

3D Shape Estimation Of Tendon-Driven Catheters Using Ultrasound Imaging

3D Shape Estimation Of Tendon-Driven Catheters Using Ultrasound Imaging

Design and Implementation of Moving Object Visual Tracking System using μ-Synthesis Controller

Deep Learning-Based Photoacoustic Visual Servoing: Using Outputs from Raw Sensor Data as Inputs to a Robot Controller

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