Yongde Zhang

Needle Tip Pose Estimation for Ultrasound-Guided Steerable Flexible Needle With a Complicated Trajectory in Soft Tissue

Visualization of the surgical needle is critical for an image guided insertion. However, it is difficult to obtain a 3D tip pose of a steerable flexible needle under 2D US images. In this letter, an image processing method is used to extract the needle shaft radial cross-sectional centroid coordinat