Abstract
| Original language | Undefined |
|---|---|
| Title of host publication | Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) |
| Place of Publication | USA |
| Publisher | IEEE ROBOTICS AND AUTOMATION SOCIETY |
| Pages | 1680-1685 |
| Number of pages | 6 |
| ISBN (Print) | 9781467356428 |
| DOIs | |
| Publication status | Published - 6 May 2013 |
| Event | 2013 IEEE International Conference on Robotics and Automation, ICRA 2013 - Karlsruhe, Germany Duration: 6 May 2013 → 10 May 2013 |
Publication series
| Name | |
|---|---|
| Publisher | IEEE Robotics and Automation Society |
| Number | 2 |
| Volume | 19 |
| ISSN (Print) | 1070-9932 |
| ISSN (Electronic) | 1558-223X |
Conference
| Conference | 2013 IEEE International Conference on Robotics and Automation, ICRA 2013 |
|---|---|
| Abbreviated title | ICRA |
| Country | Germany |
| City | Karlsruhe |
| Period | 6/05/13 → 10/05/13 |
Keywords
- EWI-23393
- IR-86691
- METIS-297669
- Medical robotics and systems
Cite this
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Real-time three-dimensional flexible needle tracking using two-dimensional ultrasound. / Vrooijink, G.J.; Abayazid, Momen; Misra, Sarthak.
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). USA : IEEE ROBOTICS AND AUTOMATION SOCIETY, 2013. p. 1680-1685.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review
TY - GEN
T1 - Real-time three-dimensional flexible needle tracking using two-dimensional ultrasound
AU - Vrooijink, G.J.
AU - Abayazid, Momen
AU - Misra, Sarthak
N1 - 10.1109/MRA.2012.2201600
PY - 2013/5/6
Y1 - 2013/5/6
N2 - Needle insertion is one of the most commonly performed minimally invasive procedures. Visualization of the needle during insertion is key for either successful diagnosis or therapy. This work presents the real-time three-dimensional tracking of flexible needles during insertion into a soft-tissue simulant using a two-dimensional ultrasound transducer. The transducer is placed perpendicular to the needle tip to measure its position. During insertion the transducer is robotically repositioned to track the needle tip. Positioning of the transducer is accomplished via an estimator, that uses the needle insertion velocity corrected by needle tip velocities to estimate out-of-plane motion. Experiments are performed to validate the needle tip pose during tracking. The maximum mean errors in needle tip position along the x-, y- and z-axes are 0.64 mm, 0.25 mm and 0.27 mm, respectively. The error in tip orientations about the y- and z-axes are 2.68 degree and 2.83 degree, respectively. This study demonstrates the feasibility to use needle tip pose feedback to robotically steer needles, and thereby improve accuracy of medical procedures.
AB - Needle insertion is one of the most commonly performed minimally invasive procedures. Visualization of the needle during insertion is key for either successful diagnosis or therapy. This work presents the real-time three-dimensional tracking of flexible needles during insertion into a soft-tissue simulant using a two-dimensional ultrasound transducer. The transducer is placed perpendicular to the needle tip to measure its position. During insertion the transducer is robotically repositioned to track the needle tip. Positioning of the transducer is accomplished via an estimator, that uses the needle insertion velocity corrected by needle tip velocities to estimate out-of-plane motion. Experiments are performed to validate the needle tip pose during tracking. The maximum mean errors in needle tip position along the x-, y- and z-axes are 0.64 mm, 0.25 mm and 0.27 mm, respectively. The error in tip orientations about the y- and z-axes are 2.68 degree and 2.83 degree, respectively. This study demonstrates the feasibility to use needle tip pose feedback to robotically steer needles, and thereby improve accuracy of medical procedures.
KW - EWI-23393
KW - IR-86691
KW - METIS-297669
KW - Medical robotics and systems
U2 - 10.1109/MRA.2012.2201600
DO - 10.1109/MRA.2012.2201600
M3 - Conference contribution
SN - 9781467356428
SP - 1680
EP - 1685
BT - Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
PB - IEEE ROBOTICS AND AUTOMATION SOCIETY
CY - USA
ER -