Real-time three-dimensional flexible needle tracking using two-dimensional ultrasound

G.J. Vrooijink, Momen Abayazid, Sarthak Misra

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

38 Citations (Scopus)

Abstract

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.
Original languageUndefined
Title of host publicationProceedings of the IEEE International Conference on Robotics and Automation (ICRA)
Place of PublicationUSA
PublisherIEEE ROBOTICS AND AUTOMATION SOCIETY
Pages1680-1685
Number of pages6
ISBN (Print)9781467356428
DOIs
Publication statusPublished - 6 May 2013
Event2013 IEEE International Conference on Robotics and Automation, ICRA 2013 - Karlsruhe, Germany
Duration: 6 May 201310 May 2013

Publication series

Name
PublisherIEEE Robotics and Automation Society
Number2
Volume19
ISSN (Print)1070-9932
ISSN (Electronic)1558-223X

Conference

Conference2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Abbreviated titleICRA
CountryGermany
CityKarlsruhe
Period6/05/1310/05/13

Keywords

  • EWI-23393
  • IR-86691
  • METIS-297669
  • Medical robotics and systems

Cite this

Vrooijink, G. J., Abayazid, M., & Misra, S. (2013). Real-time three-dimensional flexible needle tracking using two-dimensional ultrasound. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) (pp. 1680-1685). USA: IEEE ROBOTICS AND AUTOMATION SOCIETY. https://doi.org/10.1109/MRA.2012.2201600
Vrooijink, G.J. ; Abayazid, Momen ; Misra, Sarthak. / Real-time three-dimensional flexible needle tracking using two-dimensional ultrasound. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). USA : IEEE ROBOTICS AND AUTOMATION SOCIETY, 2013. pp. 1680-1685
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title = "Real-time three-dimensional flexible needle tracking using two-dimensional ultrasound",
abstract = "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.",
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Vrooijink, GJ, Abayazid, M & Misra, S 2013, Real-time three-dimensional flexible needle tracking using two-dimensional ultrasound. in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). IEEE ROBOTICS AND AUTOMATION SOCIETY, USA, pp. 1680-1685, 2013 IEEE International Conference on Robotics and Automation, ICRA 2013, Karlsruhe, Germany, 6/05/13. https://doi.org/10.1109/MRA.2012.2201600

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 proceedingConference contributionAcademicpeer-review

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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.

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Vrooijink GJ, Abayazid M, Misra S. Real-time three-dimensional flexible needle tracking using two-dimensional ultrasound. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). USA: IEEE ROBOTICS AND AUTOMATION SOCIETY. 2013. p. 1680-1685 https://doi.org/10.1109/MRA.2012.2201600