NDLI: Ultrasound-guided three-dimensional needle steering in biological tissue with curved surfaces

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Ultrasound-guided three-dimensional needle steering in biological tissue with curved surfaces

Content Provider	PubMed Central
Author	Momen, Abayazid Moreira, Pedro Shahriari, Navid Patil, Sachin Ron, Alterovitz Misra, Sarthak
Copyright Year	2014
Abstract	In this paper, we present a system capable of automatically steering a bevel-tipped flexible needle under ultrasound guidance toward a physical target while avoiding a physical obstacle embedded in gelatin phantoms and biological tissue with curved surfaces. An ultrasound pre-operative scan is performed for three-dimensional (3D) target localization and shape reconstruction. A controller based on implicit force control is developed to align the transducer with curved surfaces to assure the maximum contact area, and thus obtain an image of sufficient quality. We experimentally investigate the effect of needle insertion system parameters such as insertion speed, needle diameter and bevel angle on target motion to adjust the parameters that minimize the target motion during insertion. A fast sampling-based path planner is used to compute and periodically update a feasible path to the target that avoids obstacles. We present experimental results for target reconstruction and needle insertion procedures in gelatin-based phantoms and biological tissue. Mean targeting errors of 1.46 ± 0.37 mm, 1.29 ± 0.29 mm and 1.82 ± 0.58 mm are obtained for phantoms with inclined, curved and combined (inclined and curved) surfaces, respectively, for insertion distance of 86–103 mm. The achieved targeting errors suggest that our approach is sufficient for targeting lesions of 3 mm radius that can be detected using clinical ultrasound imaging systems.
Related Links	http://dx.doi.org/10.1016/j.medengphy.2014.10.005
Ending Page	150
Page Count	6
Starting Page	145
File Format	PDF
ISSN	13504533
e-ISSN	18734030
Journal	Medical engineering & physics
Issue Number	1
Volume Number	37
Language	English
Publisher Date	2015-01-01
Access Restriction	Open
Subject Keyword	Biophysics Biomedical Engineering Research in Higher Education
Content Type	Text
Resource Type	Article
Subject	Biophysics Biomedical Engineering

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