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Ultrasound-guided three-dimensional needle steering in biological tissue with curved surfaces.
- Source :
-
Medical engineering & physics [Med Eng Phys] 2015 Jan; Vol. 37 (1), pp. 145-50. Date of Electronic Publication: 2014 Oct 31. - Publication Year :
- 2015
-
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 3mm radius that can be detected using clinical ultrasound imaging systems.<br /> (Copyright © 2014 IPEM. Published by Elsevier Ltd. All rights reserved.)
- Subjects :
- Algorithms
Animals
Chickens
Equipment Design
Gelatin
Imaging, Three-Dimensional
Muscle, Skeletal
Pattern Recognition, Automated methods
Phantoms, Imaging
Surgery, Computer-Assisted instrumentation
Ultrasonography, Interventional instrumentation
Needles
Surgery, Computer-Assisted methods
Ultrasonography, Interventional methods
Subjects
Details
- Language :
- English
- ISSN :
- 1873-4030
- Volume :
- 37
- Issue :
- 1
- Database :
- MEDLINE
- Journal :
- Medical engineering & physics
- Publication Type :
- Academic Journal
- Accession number :
- 25455165
- Full Text :
- https://doi.org/10.1016/j.medengphy.2014.10.005