Steering an actuated-tip needle in biological tissue: Fusing FBG-sensor data and ultrasound images

Navid Shahriari, Roy J. Roesthuis, Nick J. van de Berg, John J. van den Dobbelsteen, Sarthak Misra

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

    7 Citations (Scopus)

    Abstract

    Needle insertion procedures are commonly performed in current clinical practice for diagnostic and therapeutic purposes. Although prevailing technology allows accurate localization of lesions, they cannot yet be precisely targeted. Needle steering is a promising technique to overcome this challenge. In this paper, we describe the development of a novel steering system for an actuated-tip flexible needle. Strain measurements from an array of Fiber Bragg Grating (FBG) sensors are used for online reconstruction of the needle shape in 3D-space. FBG-sensor data is then fused with ultrasound images obtained from a clinically-approved Automated Breast Volume Scanner (ABVS) using an unscented Kalman filter. A new ultrasound-based tracking algorithm is developed for the robust tracking of the needle in biological tissue. Two experimental cases are presented to evaluate the proposed steering system. In the first case, the needle shape is reconstructed using the tracked tip position in ultrasound images and FBG-sensor measurements, separately. The reconstructed shape is then compared with the actual 3D needle shape obtained from the ABVS. In the second case, two steering experiments are performed to evaluate the overall system by fusing the FBG-sensor data and ultrasound images. Average targeting errors are 1.29±0.41 mm and 1.42±0.72 mm in gelatin phantom and biological tissue, respectively.
    Original languageEnglish
    Title of host publication2016 IEEE International Conference on Robotics and Automation (ICRA)
    Place of PublicationPiscataway, NJ
    PublisherIEEE
    Pages4443-4449
    ISBN (Electronic)978-146738026-3
    DOIs
    Publication statusPublished - 16 May 2016
    Event2016 IEEE International Conference on Robotics and Automation, ICRA 2016 - Stockholm, Sweden
    Duration: 16 May 201621 May 2016
    https://www.icra2016.org/

    Conference

    Conference2016 IEEE International Conference on Robotics and Automation, ICRA 2016
    Abbreviated titleICRA
    CountrySweden
    CityStockholm
    Period16/05/1621/05/16
    Internet address

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