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

Pierre Chatelain; Alexandre Krupa; Nassir Navab

ICRA 2015poster63 citations

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

Pierre Chatelain, Alexandre Krupa, Nassir Navab

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.

BibTeX

@inproceedings{icra2015_3dultrasoundguid,
  title = {3D ultrasound-guided robotic steering of a flexible needle via visual servoing},
  author = {Pierre Chatelain and Alexandre Krupa and Nassir Navab},
  booktitle = {ICRA 2015},
  year = {2015}
}