3-D Ultrasound-Guided Robotic Needle Steering in Biological Tissue
نویسندگان
چکیده
منابع مشابه
Ultrasound-guided three-dimensional needle steering in biological tissue with curved surfaces.
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 ...
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Robotic needle steering is a promising technique to improve the effectiveness of needle based clinical procedures, such as biopsies and ablation, by computer controlled, curved insertions of needles within the body. In this paper, we explore the capabilities, challenges, and clinical relevance of tip asymmetric needle steering though experiments in ex vivo and in vivo tissue. We evaluate the re...
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BACKGROUND A teleoperation system for bevel-tipped flexible needle steering has been evaluated. Robotic systems have been exploited as the main tool to achieve high accuracy and reliability. However, for reasons of safety and acceptance by the surgical community, keeping the physician tightly in the loop is preferable. METHODS The system uses ultrasound imaging, path planning, and control to ...
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BACKGROUND Clinical use of image-guided needle placement robots has lagged behind laboratory-demonstrated robotic capability. Bridging this gap requires reliable and easy-to-use robotic systems. METHODS Our system for image-guided needle placement requires only simple, low-cost components and minimal, entirely off-line calibration. It rapidly aligns needles to planned entry paths using 3D ult...
متن کاملOnline Detection of Straight Lines in 3-D Ultrasound Image Volumes for Image-Guided Needle Navigation
3D ultrasound imaging can be a valuable tool in navigated interventions. When used as continuous imaging device, it can not only show the anatomical site but has the potential to measure instrument positions, e.g. to validate the data of position localizer tools. Real time image analysis is a prerequisite for this concept. Needle-like instruments can be idealized by lines. An algorithm was impl...
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ژورنال
عنوان ژورنال: IEEE Transactions on Biomedical Engineering
سال: 2014
ISSN: 0018-9294,1558-2531
DOI: 10.1109/tbme.2014.2334309