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

    58 Citations (Scopus)
    22 Downloads (Pure)


    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
    Number of pages6
    ISBN (Print)9781467356428
    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

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


    Conference2013 IEEE International Conference on Robotics and Automation, ICRA 2013
    Abbreviated titleICRA


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

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