Flexible Needle Steering in Moving Biological Tissue with Motion Compensation using Ultrasound and Force Feedback

Jason Chevrie, N. Shahriari, Marie Babel, Alexandre Krupa, S. Misra

    Research output: Contribution to conferencePaper

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    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 intra-operative tissue motion. In this paper, we present a method to steer a beveledtip flexible needle towards a target embedded in moving tissue. Needle steering is performed using a needle insertion device attached to a robot arm. Closed-loop 3D steering of the needle is achieved using tracking of an artificial target in 2D 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 15mm is applied and average targeting error is 1.2±0.8mm and 2.5±0.7mm in gelatin and liver, respectively, which is sufficiently accurate for commonly performed needle insertion procedures.
    Original languageEnglish
    Pages1
    Number of pages8
    Publication statusPublished - 21 May 2018
    Event2018 IEEE International Conference on Robotics and Automation, ICRA 2018 - The Brisbane Convention & Exhibition Venue, Brisbane, Australia
    Duration: 21 May 201825 May 2018
    https://icra2018.org/

    Conference

    Conference2018 IEEE International Conference on Robotics and Automation, ICRA 2018
    Abbreviated titleICRA
    CountryAustralia
    CityBrisbane
    Period21/05/1825/05/18
    Internet address

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    Motion compensation
    Needles
    Ultrasonics
    Tissue
    Feedback
    Liver
    Electric fuses
    Mechanics
    Robots

    Cite this

    Chevrie, J., Shahriari, N., Babel, M., Krupa, A., & Misra, S. (2018). Flexible Needle Steering in Moving Biological Tissue with Motion Compensation using Ultrasound and Force Feedback. 1. Paper presented at 2018 IEEE International Conference on Robotics and Automation, ICRA 2018, Brisbane, Australia.
    Chevrie, Jason ; Shahriari, N. ; Babel, Marie ; Krupa, Alexandre ; Misra, S. / Flexible Needle Steering in Moving Biological Tissue with Motion Compensation using Ultrasound and Force Feedback. Paper presented at 2018 IEEE International Conference on Robotics and Automation, ICRA 2018, Brisbane, Australia.8 p.
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    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 intra-operative tissue motion. In this paper, we present a method to steer a beveledtip flexible needle towards a target embedded in moving tissue. Needle steering is performed using a needle insertion device attached to a robot arm. Closed-loop 3D steering of the needle is achieved using tracking of an artificial target in 2D ultrasound images and tracking of the needle tip position and orientation with an electromagnetic tracker. Tissue motion compensation is performed using force feedback to reducetargeting 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 15mm is applied and average targeting error is 1.2±0.8mm and 2.5±0.7mm in gelatin and liver, respectively, which is sufficiently accurate for commonly performed needle insertion procedures.",
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    Chevrie, J, Shahriari, N, Babel, M, Krupa, A & Misra, S 2018, 'Flexible Needle Steering in Moving Biological Tissue with Motion Compensation using Ultrasound and Force Feedback' Paper presented at 2018 IEEE International Conference on Robotics and Automation, ICRA 2018, Brisbane, Australia, 21/05/18 - 25/05/18, pp. 1.

    Flexible Needle Steering in Moving Biological Tissue with Motion Compensation using Ultrasound and Force Feedback. / Chevrie, Jason; Shahriari, N.; Babel, Marie; Krupa, Alexandre; Misra, S.

    2018. 1 Paper presented at 2018 IEEE International Conference on Robotics and Automation, ICRA 2018, Brisbane, Australia.

    Research output: Contribution to conferencePaper

    TY - CONF

    T1 - Flexible Needle Steering in Moving Biological Tissue with Motion Compensation using Ultrasound and Force Feedback

    AU - Chevrie, Jason

    AU - Shahriari, N.

    AU - Babel, Marie

    AU - Krupa, Alexandre

    AU - Misra, S.

    PY - 2018/5/21

    Y1 - 2018/5/21

    N2 - 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 intra-operative tissue motion. In this paper, we present a method to steer a beveledtip flexible needle towards a target embedded in moving tissue. Needle steering is performed using a needle insertion device attached to a robot arm. Closed-loop 3D steering of the needle is achieved using tracking of an artificial target in 2D ultrasound images and tracking of the needle tip position and orientation with an electromagnetic tracker. Tissue motion compensation is performed using force feedback to reducetargeting 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 15mm is applied and average targeting error is 1.2±0.8mm and 2.5±0.7mm in gelatin and liver, respectively, which is sufficiently accurate for commonly performed needle insertion procedures.

    AB - 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 intra-operative tissue motion. In this paper, we present a method to steer a beveledtip flexible needle towards a target embedded in moving tissue. Needle steering is performed using a needle insertion device attached to a robot arm. Closed-loop 3D steering of the needle is achieved using tracking of an artificial target in 2D ultrasound images and tracking of the needle tip position and orientation with an electromagnetic tracker. Tissue motion compensation is performed using force feedback to reducetargeting 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 15mm is applied and average targeting error is 1.2±0.8mm and 2.5±0.7mm in gelatin and liver, respectively, which is sufficiently accurate for commonly performed needle insertion procedures.

    M3 - Paper

    SP - 1

    ER -

    Chevrie J, Shahriari N, Babel M, Krupa A, Misra S. Flexible Needle Steering in Moving Biological Tissue with Motion Compensation using Ultrasound and Force Feedback. 2018. Paper presented at 2018 IEEE International Conference on Robotics and Automation, ICRA 2018, Brisbane, Australia.