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

Jason Chevrie (Corresponding Author), Navid Shahriari, Marie Babel, Alexandre Krupa, Sarthak Misra

    Research output: Contribution to journalArticleAcademicpeer-review

    2 Citations (Scopus)
    32 Downloads (Pure)

    Abstract

    Needle insertion procedures under ultrasound guidance are commonly used for diagnosis and therapy. It is often critical to accurately reach a targeted region, and this can be difficult to achieve due to intraoperative tissue motion. In this letter, we present a method to steer a beveled-tip flexible needle toward a target embedded in moving tissue. Needle steering is performed using a needle insertion device attached to a robot arm. Closed-loop 3-D steering of the needle is achieved using tracking of an artificial target in 2-D ultrasound images and tracking of the needle tip position and orientation with an electromagnetic tracker. Tissue motion compensation is performed using force feedback to reduce targeting error and forces applied to the tissue. The method uses a mechanics-based interaction model that is updated online. A novel control law using task functions is proposed to fuse motion compensation, steering via base manipulation and tip-based steering. Validation of the tracking and steering algorithms are performed in gelatin phantom and bovine liver. Tissue motion up to 15 mm is applied and average targeting error is 1.2 ± 0.8 mm and 2.5 ± 0.7 mm in gelatin and liver, respectively, which is sufficiently accurate for commonly performed needle insertion procedures.
    Original languageEnglish
    Pages (from-to)2338-2345
    JournalIEEE Robotics and automation letters
    Volume3
    Issue number3
    Early online date27 Feb 2018
    DOIs
    Publication statusPublished - 1 Jul 2018

    Fingerprint

    Force Feedback
    Motion Compensation
    Biological Tissue
    Motion compensation
    Ultrasound
    Needles
    Insertion
    Ultrasonics
    Tissue
    Feedback
    Liver
    Ultrasound Image
    Target
    Motion
    Phantom
    Closed-loop
    Therapy
    3D
    Guidance
    Mechanics

    Cite this

    Chevrie, Jason ; Shahriari, Navid ; Babel, Marie ; Krupa, Alexandre ; Misra, Sarthak. / Flexible Needle Steering in Moving Biological Tissue With Motion Compensation Using Ultrasound and Force Feedback. In: IEEE Robotics and automation letters. 2018 ; Vol. 3, No. 3. pp. 2338-2345.
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    title = "Flexible Needle Steering in Moving Biological Tissue With Motion Compensation Using Ultrasound and Force Feedback",
    abstract = "Needle insertion procedures under ultrasound guidance are commonly used for diagnosis and therapy. It is often critical to accurately reach a targeted region, and this can be difficult to achieve due to intraoperative tissue motion. In this letter, we present a method to steer a beveled-tip flexible needle toward a target embedded in moving tissue. Needle steering is performed using a needle insertion device attached to a robot arm. Closed-loop 3-D steering of the needle is achieved using tracking of an artificial target in 2-D ultrasound images and tracking of the needle tip position and orientation with an electromagnetic tracker. Tissue motion compensation is performed using force feedback to reduce targeting error and forces applied to the tissue. The method uses a mechanics-based interaction model that is updated online. A novel control law using task functions is proposed to fuse motion compensation, steering via base manipulation and tip-based steering. Validation of the tracking and steering algorithms are performed in gelatin phantom and bovine liver. Tissue motion up to 15 mm is applied and average targeting error is 1.2 ± 0.8 mm and 2.5 ± 0.7 mm in gelatin and liver, respectively, which is sufficiently accurate for commonly performed needle insertion procedures.",
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    Flexible Needle Steering in Moving Biological Tissue With Motion Compensation Using Ultrasound and Force Feedback. / Chevrie, Jason (Corresponding Author); Shahriari, Navid; Babel, Marie; Krupa, Alexandre; Misra, Sarthak.

    In: IEEE Robotics and automation letters, Vol. 3, No. 3, 01.07.2018, p. 2338-2345.

    Research output: Contribution to journalArticleAcademicpeer-review

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    AU - Shahriari, Navid

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    AU - Misra, Sarthak

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