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 conferencePaperAcademicpeer-review

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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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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 conferencePaperAcademicpeer-review

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

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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

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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.