Visual needle tip tracking in 2D US guided robotic interventions

Name: Visual needle tip tracking in 2D US guided robotic interventions
Author: Kaya, M., Şenel, E., Ahmad, A., Bebek, Özkan

İsim	Visual needle tip tracking in 2D US guided robotic interventions
Yazar	Kaya, M., Şenel, E., Ahmad, A., Bebek, Özkan
Basım Tarihi:	2019-02
Basım Yeri	- Elsevier
Konu	Robotic biopsy, 2D ultrasound, Visual tracking, Needle tip, 3D needle shape visualization
Tür	Süreli Yayın
Dil	İngilizce
Dijital	Evet
Yazma	Hayır
Kütüphane:	Özyeğin Üniversitesi
Demirbaş Numarası	0957-4158
Kayıt Numarası	3c385722-b8a0-499c-86d7-d79b0b1b03ec
Lokasyon	Mechanical Engineering
Tarih	2019-02
Notlar	TÜBİTAK
Örnek Metin	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.
DOI	10.1016/j.mechatronics.2018.12.002
Cilt	57

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Visual needle tip tracking in 2D US guided robotic interventions

Yazar Kaya, M., Şenel, E., Ahmad, A., Bebek, Özkan

Basım Tarihi 2019-02

Basım Yeri - Elsevier

Konu Robotic biopsy, 2D ultrasound, Visual tracking, Needle tip, 3D needle shape visualization

Tür Süreli Yayın

Dil İngilizce

Dijital Evet

Yazma Hayır

Kütüphane Özyeğin Üniversitesi

Demirbaş Numarası 0957-4158

Kayıt Numarası 3c385722-b8a0-499c-86d7-d79b0b1b03ec

Lokasyon Mechanical Engineering

Tarih 2019-02

Notlar TÜBİTAK

Örnek Metin 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.

DOI 10.1016/j.mechatronics.2018.12.002

Cilt 57