Dual-robot ultrasound-guided needle placement: closing the planning-imaging-action loop

Autor: Sing Chun Lee, Edoardo Sinibaldi, Javad Fotouhi, Risto Kojcev, Oliver Zettinig, Nassir Navab, Bernhard Fuerst, Benjamin Frisch, Russell H. Taylor
Rok vydání: 2016
Předmět:
Computer science
Image quality
0206 medical engineering
ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION
Biomedical Engineering
Health Informatics
02 engineering and technology
030218 nuclear medicine & medical imaging
03 medical and health sciences
0302 clinical medicine
Robotic Surgical Procedures
Software Design
Region of interest
Digital image processing
Image Processing
Computer-Assisted
Humans
Radiology
Nuclear Medicine and imaging
Computer vision
Closing (morphology)
Ultrasonography
Phantoms
Imaging
business.industry
Robotics
Equipment Design
General Medicine
020601 biomedical engineering
Computer Graphics and Computer-Aided Design
Computer Science Applications
Visualization
Robot control
Surgery
Computer-Assisted
Needles
Robot
Surgery
Computer Vision and Pattern Recognition
Artificial intelligence
business
Algorithms
Software
Zdroj: International Journal of Computer Assisted Radiology and Surgery. 11:1173-1181
ISSN: 1861-6429
1861-6410
Popis: Precise needle placement is an important task during several medical procedures. Ultrasound imaging is often used to guide the needle toward the target region in soft tissue. This task remains challenging due to the user’s dependence on image quality, limited field of view, moving target, and moving needle. In this paper, we present a novel dual-robot framework for robotic needle insertions under robotic ultrasound guidance. We integrated force-controlled ultrasound image acquisition, registration of preoperative and intraoperative images, vision-based robot control, and target localization, in combination with a novel needle tracking algorithm. The framework allows robotic needle insertion to target a preoperatively defined region of interest while enabling real-time visualization and adaptive trajectory planning to provide safe and quick interactions. We assessed the framework by considering both static and moving targets embedded in water and tissue-mimicking gelatin. The presented dual-robot tracking algorithms allow for accurate needle placement, namely to target the region of interest with an error around 1 mm. To the best of our knowledge, we show the first use of two independent robots, one for imaging, the other for needle insertion, that are simultaneously controlled using image processing algorithms. Experimental results show the feasibility and demonstrate the accuracy and robustness of the process.
Databáze: OpenAIRE
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