Ultrasound-guided three-dimensional needle steering in biological tissue with curved surfaces

Momen Abayazid, Pedro Lopes da Frota Moreira, Navid Shahriari, S. Patil, Ron Alterovitz, Sarthak Misra

Research output: Contribution to journalArticleAcademicpeer-review

22 Citations (Scopus)

Abstract

In this paper, we present a system capable of automatically steering a bevel-tipped flexible needle under ultrasound guidance toward a physical target while avoiding a physical obstacle embedded in gelatin phantoms and biological tissue with curved surfaces. An ultrasound pre-operative scan is performed for three-dimensional (3D) target localization and shape reconstruction. A controller based on implicit force control is developed to align the transducer with curved surfaces to assure the maximum contact area, and thus obtain an image of sufficient quality. We experimentally investigate the effect of needle insertion system parameters such as insertion speed, needle diameter and bevel angle on target motion to adjust the parameters that minimize the target motion during insertion. A fast sampling-based path planner is used to compute and periodically update a feasible path to the target that avoids obstacles. We present experimental results for target reconstruction and needle insertion procedures in gelatin-based phantoms and biological tissue. Mean targeting errors of 1.46 ± 0.37 mm, 1.29 ± 0.29 mm and 1.82 ± 0.58 mm are obtained for phantoms with inclined, curved and combined (inclined and curved) surfaces, respectively, for insertion distance of 86–103 mm. The achieved targeting errors suggest that our approach is sufficient for targeting lesions of 3 mm radius that can be detected using clinical ultrasound imaging systems.
Original languageEnglish
Pages (from-to)145-150
Number of pages6
JournalMedical engineering & physics
Volume37
Issue number1
DOIs
Publication statusPublished - Jan 2015

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Needles
Ultrasonics
Tissue
Gelatin
Force control
Transducers
Imaging systems
Ultrasonography
Sampling
Controllers

Keywords

  • METIS-310821
  • IR-92403

Cite this

Abayazid, Momen ; Lopes da Frota Moreira, Pedro ; Shahriari, Navid ; Patil, S. ; Alterovitz, Ron ; Misra, Sarthak. / Ultrasound-guided three-dimensional needle steering in biological tissue with curved surfaces. In: Medical engineering & physics. 2015 ; Vol. 37, No. 1. pp. 145-150.
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abstract = "In this paper, we present a system capable of automatically steering a bevel-tipped flexible needle under ultrasound guidance toward a physical target while avoiding a physical obstacle embedded in gelatin phantoms and biological tissue with curved surfaces. An ultrasound pre-operative scan is performed for three-dimensional (3D) target localization and shape reconstruction. A controller based on implicit force control is developed to align the transducer with curved surfaces to assure the maximum contact area, and thus obtain an image of sufficient quality. We experimentally investigate the effect of needle insertion system parameters such as insertion speed, needle diameter and bevel angle on target motion to adjust the parameters that minimize the target motion during insertion. A fast sampling-based path planner is used to compute and periodically update a feasible path to the target that avoids obstacles. We present experimental results for target reconstruction and needle insertion procedures in gelatin-based phantoms and biological tissue. Mean targeting errors of 1.46 ± 0.37 mm, 1.29 ± 0.29 mm and 1.82 ± 0.58 mm are obtained for phantoms with inclined, curved and combined (inclined and curved) surfaces, respectively, for insertion distance of 86–103 mm. The achieved targeting errors suggest that our approach is sufficient for targeting lesions of 3 mm radius that can be detected using clinical ultrasound imaging systems.",
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Ultrasound-guided three-dimensional needle steering in biological tissue with curved surfaces. / Abayazid, Momen; Lopes da Frota Moreira, Pedro; Shahriari, Navid; Patil, S.; Alterovitz, Ron; Misra, Sarthak.

In: Medical engineering & physics, Vol. 37, No. 1, 01.2015, p. 145-150.

Research output: Contribution to journalArticleAcademicpeer-review

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AU - Abayazid, Momen

AU - Lopes da Frota Moreira, Pedro

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