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

Pierre Chatelain; Alexandre Krupa; Nassir Navab

doi:10.1109/ICRA.2015.7139497

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

Pierre Chatelain, Alexandre Krupa, Nassir Navab

Informatics 16 - Chair of Computer Aided Medical Procedures

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

33 Scopus citations

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.

Original language	English
Title of host publication	2015 IEEE International Conference on Robotics and Automation, ICRA 2015
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2250-2255
Number of pages	6
Edition	June
ISBN (Electronic)	9781479969234
DOIs	https://doi.org/10.1109/ICRA.2015.7139497
State	Published - 29 Jun 2015
Event	2015 IEEE International Conference on Robotics and Automation, ICRA 2015 - Seattle, United States Duration: 26 May 2015 → 30 May 2015

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Number	June
Volume	2015-June
ISSN (Print)	1050-4729

Conference

Conference	2015 IEEE International Conference on Robotics and Automation, ICRA 2015
Country/Territory	United States
City	Seattle
Period	26/05/15 → 30/05/15

Access to Document

10.1109/ICRA.2015.7139497

Cite this

Chatelain, P., Krupa, A., & Navab, N. (2015). 3D ultrasound-guided robotic steering of a flexible needle via visual servoing. In 2015 IEEE International Conference on Robotics and Automation, ICRA 2015 (June ed., pp. 2250-2255). Article 7139497 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2015-June, No. June). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2015.7139497

Chatelain, Pierre ; Krupa, Alexandre ; Navab, Nassir. / 3D ultrasound-guided robotic steering of a flexible needle via visual servoing. 2015 IEEE International Conference on Robotics and Automation, ICRA 2015. June. ed. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 2250-2255 (Proceedings - IEEE International Conference on Robotics and Automation; June).

@inproceedings{e3192f8e4f4e49839f69dbed57a0fff0,

title = "3D ultrasound-guided robotic steering of a flexible needle via visual servoing",

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.",

author = "Pierre Chatelain and Alexandre Krupa and Nassir Navab",

note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; 2015 IEEE International Conference on Robotics and Automation, ICRA 2015 ; Conference date: 26-05-2015 Through 30-05-2015",

year = "2015",

month = jun,

day = "29",

doi = "10.1109/ICRA.2015.7139497",

language = "English",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

number = "June",

pages = "2250--2255",

booktitle = "2015 IEEE International Conference on Robotics and Automation, ICRA 2015",

edition = "June",

}

Chatelain, P, Krupa, A & Navab, N 2015, 3D ultrasound-guided robotic steering of a flexible needle via visual servoing. in 2015 IEEE International Conference on Robotics and Automation, ICRA 2015. June edn, 7139497, Proceedings - IEEE International Conference on Robotics and Automation, no. June, vol. 2015-June, Institute of Electrical and Electronics Engineers Inc., pp. 2250-2255, 2015 IEEE International Conference on Robotics and Automation, ICRA 2015, Seattle, United States, 26/05/15. https://doi.org/10.1109/ICRA.2015.7139497

3D ultrasound-guided robotic steering of a flexible needle via visual servoing. / Chatelain, Pierre; Krupa, Alexandre; Navab, Nassir.
2015 IEEE International Conference on Robotics and Automation, ICRA 2015. June. ed. Institute of Electrical and Electronics Engineers Inc., 2015. p. 2250-2255 7139497 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2015-June, No. June).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - 3D ultrasound-guided robotic steering of a flexible needle via visual servoing

AU - Chatelain, Pierre

AU - Krupa, Alexandre

AU - Navab, Nassir

PY - 2015/6/29

Y1 - 2015/6/29

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=84938266098&partnerID=8YFLogxK

U2 - 10.1109/ICRA.2015.7139497

DO - 10.1109/ICRA.2015.7139497

M3 - Conference contribution

AN - SCOPUS:84938266098

T3 - Proceedings - IEEE International Conference on Robotics and Automation

SP - 2250

EP - 2255

BT - 2015 IEEE International Conference on Robotics and Automation, ICRA 2015

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2015 IEEE International Conference on Robotics and Automation, ICRA 2015

Y2 - 26 May 2015 through 30 May 2015

ER -

Chatelain P, Krupa A, Navab N. 3D ultrasound-guided robotic steering of a flexible needle via visual servoing. In 2015 IEEE International Conference on Robotics and Automation, ICRA 2015. June ed. Institute of Electrical and Electronics Engineers Inc. 2015. p. 2250-2255. 7139497. (Proceedings - IEEE International Conference on Robotics and Automation; June). doi: 10.1109/ICRA.2015.7139497

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

Abstract

Publication series

Conference

Access to Document

Other files and links

Fingerprint

Cite this