3D ultrasound-guided robotic steering of a flexible needle via visual servoing

Chatelain P, Krupa A, Navab N (2015)

Publication Type: Conference contribution

Publication year: 2015

Journal

Proceedings - IEEE International Conference on Robotics and Automation Institute of Electrical and Electronics Engineers

Publisher: Institute of Electrical and Electronics Engineers Inc.

Book Volume: 2015-June

Pages Range: 2250-2255

Conference Proceedings Title: Proceedings - IEEE International Conference on Robotics and Automation

Event location: Seattle, WA, USA

ISBN: 9781479969234

DOI: 10.1109/ICRA.2015.7139497

Abstract

We present a method for the three-dimensional (3D) steering of a flexible needle under 3D ultrasound guidance. The proposed solution is based on a duty-cycling visual servoing strategy we designed in a previous work, and on a new needle tracking algorithm for 3D ultrasound. The flexible needle modeled as a polynomial curve is tracked during automatic insertion using particle filtering. This new tracking algorithm enables real-time closed-loop needle control with 3D ultrasound feedback. Experimental results of a targeting task demonstrate the robustness of the proposed tracking algorithm and the feasibility of 3D ultrasound-guided needle steering.

Involved external institutions

Université de Rennes 1 / University of Rennes 1 FR France (FR) Institut de Recherche en Informatique et Systèmes Aléatoires (CNRS-IRISA) FR France (FR) Technische Universität München (TUM) DE Germany (DE)

How to cite

APA:

Chatelain, P., Krupa, A., & Navab, N. (2015). 3D ultrasound-guided robotic steering of a flexible needle via visual servoing. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 2250-2255). Seattle, WA, USA: Institute of Electrical and Electronics Engineers Inc..

MLA:

Chatelain, Pierre, Alexandre Krupa, and Nassir Navab. "3D ultrasound-guided robotic steering of a flexible needle via visual servoing." Proceedings of the 2015 IEEE International Conference on Robotics and Automation, ICRA 2015, Seattle, WA, USA Institute of Electrical and Electronics Engineers Inc., 2015. 2250-2255.

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