Visual needle tip tracking in 2D US guided robotic interventions. (February 2019)

• Record Type: Journal Article
• Authors: Kaya, Mert; Senel, Enes; Ahmad, Awais; Bebek, Ozkan
• Is Part Of: Mechatronics. Volume 57(2019)
• Page Start: 129
• Page End: 139
• Publication Date: 2019-02
• Subjects: Robotic biopsy -- 2D ultrasound -- Visual tracking -- Needle tip -- 3D needle shape visualization; Computer integrated manufacturing systems -- Periodicals; Flexible manufacturing systems -- Periodicals; Mechatronics -- Periodicals; Productique -- Périodiques; Fabrication, Systèmes flexibles de -- Périodiques; Mécatronique -- Périodiques; Computer integrated manufacturing systems; Flexible manufacturing systems; Mechatronics; Periodicals; 629.89
• DOI: 10.1016/j.mechatronics.2018.12.002
• Languages: English
• ISSNs: 0957-4158

Abstract

Highlights: Method to track biopsy needle and target tissue in ultrasound images is proposed. Method can be used to track multiple objects for autonomous robotic biopsies. Position feedback is possible to acquire regardless of the low-resolution imaging. Tuning for each image sequence is required for the methods in the literature. Even if the image dynamics change, it can be used without retuning the parameters. Graphical abstract: Abstract: Percutaneous needle procedures are among the most frequently performed minimally invasive surgical procedure. For tracking the needle tip in the tissue, 2D ultrasound (US) imaging is commonly used; however, the low resolution of the images creates a challenge for tracking. This paper describes a robotic system that can perform US image guided biopsies by tracking the needle and the target simultaneously. It uses a template-based visual tracking method for small and deformable targets. During the experiments, a needle was inserted into realistic phantoms using a 5-DOF robot. The 2D US probe was held by a robotic arm that was servoed along the needle path. The 3D shape of the needle was estimated using the 2D transverse US images, which was used to align the needle axis with the 2D imaging plane. The accuracy of the visual needle tip tracking was evaluated using an optical tracking system, and a computed tomography scanner was used to determine the accuracy of the 3D needle shape estimation method. Target reaching accuracies were measured using an electromagnetic tracking system. The results of the experiments showed that the proposed system can track the needle tip in 2D US guided needle procedures in real-time with a sub-millimeter positional error.