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

Pierre Chatelain, Alexandre Krupa, Nassir Navab

Publikation: Beitrag in Buch/Bericht/KonferenzbandKonferenzbeitragBegutachtung

33 Zitate (Scopus)

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.

OriginalspracheEnglisch
Titel2015 IEEE International Conference on Robotics and Automation, ICRA 2015
Herausgeber (Verlag)Institute of Electrical and Electronics Engineers Inc.
Seiten2250-2255
Seitenumfang6
AuflageJune
ISBN (elektronisch)9781479969234
DOIs
PublikationsstatusVeröffentlicht - 29 Juni 2015
Veranstaltung2015 IEEE International Conference on Robotics and Automation, ICRA 2015 - Seattle, USA/Vereinigte Staaten
Dauer: 26 Mai 201530 Mai 2015

Publikationsreihe

NameProceedings - IEEE International Conference on Robotics and Automation
NummerJune
Band2015-June
ISSN (Print)1050-4729

Konferenz

Konferenz2015 IEEE International Conference on Robotics and Automation, ICRA 2015
Land/GebietUSA/Vereinigte Staaten
OrtSeattle
Zeitraum26/05/1530/05/15

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