Towards 3D Ultrasound Guided Needle Steering Robust to Uncertainties, Noise, and Tissue Heterogeneity
| Autor: | Guillaume Lapouge, Jocelyne Troccaz, Philippe Poignet |
|---|---|
| Přispěvatelé: | Gestes Medico-chirurgicaux Assistés par Ordinateur (TIMC-GMCAO), Translational Innovation in Medicine and Complexity / Recherche Translationnelle et Innovation en Médecine et Complexité - UMR 5525 (TIMC ), VetAgro Sup - Institut national d'enseignement supérieur et de recherche en alimentation, santé animale, sciences agronomiques et de l'environnement (VAS)-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes (UGA)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP ), Université Grenoble Alpes (UGA)-VetAgro Sup - Institut national d'enseignement supérieur et de recherche en alimentation, santé animale, sciences agronomiques et de l'environnement (VAS)-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes (UGA)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP ), Université Grenoble Alpes (UGA), Conception et commande de robots pour la manipulation (DEXTER), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), ANR-11-LABX-0004,CAMI,Gestes Médico-Chirurgicaux Assistés par Ordinateur(2011), ANR-19-P3IA-0003,MIAI,MIAI @ Grenoble Alpes(2019) |
| Rok vydání: | 2021 |
| Předmět: |
0209 industrial biotechnology
[SDV.IB.IMA]Life Sciences [q-bio]/Bioengineering/Imaging Computer science 0206 medical engineering Biomedical Engineering 02 engineering and technology Curvature [SPI.AUTO]Engineering Sciences [physics]/Automatic needle steering 020901 industrial engineering & automation Control theory Robustness (computer science) medicine Humans 3D ultrasound Segmentation Motion planning path planning Ultrasonography Interventional Ultrasonography 3D ultrasound imaging Image-guided intervention medicine.diagnostic_test Phantoms Imaging Gauge (firearms) 020601 biomedical engineering Noise Needles Ultrasound imaging [SDV.IB]Life Sciences [q-bio]/Bioengineering Algorithms |
| Zdroj: | IEEE Transactions on Biomedical Engineering IEEE Transactions on Biomedical Engineering, Institute of Electrical and Electronics Engineers, 2021, 68 (4), pp.1166-1177. ⟨10.1109/TBME.2020.3022619⟩ |
| ISSN: | 1558-2531 0018-9294 |
| DOI: | 10.1109/tbme.2020.3022619 |
| Popis: | International audience; This paper presents a new solution for 3D steering of flexible needles guided by 3D B-mode ultrasound imaging. It aims to realize a robust steering, by accounting for uncertainties, noise and tissue heterogeneities, while limiting tissue-related disturbances. The proposed solution features interconnected state observer, automatic needle tip segmentation and path planning algorithms. Measurement quality, state uncertainties and tissue heterogeneity are considered for robust needle steering with helical paths of variable curvature. Fast replanning allows for adaptability to unexpected disturbances. An experimental validation has been done through 62 insertions of 24 Gauge bevel-tip nitinol needles in various tissue. Results are promising, characterized by mean targeting errors of less than 1 mm in homogeneous phantoms, 1.5 ± 0.9 mm in heterogeneous phantoms and 1.7 ± 0.8 mm in ex-vivo tissue. This new approach is a step towards a precise and robust patient-specific gesture. |
| Databáze: | OpenAIRE |
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