scholarly journals 3-D Ultrasound-Guided Robotic Needle Steering in Biological Tissue

2014 ◽  
Vol 61 (12) ◽  
pp. 2899-2910 ◽  
Author(s):  
Troy K. Adebar ◽  
Ashley E. Fletcher ◽  
Allison M. Okamura
Keyword(s):  
Biological Tissue ◽  
Ultrasound Guided ◽  
Needle Steering

Ultrasound-Guided Model Predictive Control of Needle Steering in Biological Tissue

2016 ◽  
Vol 01 (01) ◽  
pp. 1640007 ◽  
Author(s):  
Mohsen Khadem ◽  
Carlos Rossa ◽  
Ron S. Sloboda ◽  
Nawaid Usmani ◽  
Mahdi Tavakoli
Keyword(s):  
Biological Tissue ◽  
Tracking System ◽  
Maximum Error ◽  
Needle Insertion ◽  
Steering System ◽  
Ultrasound Images ◽  
Ultrasound Guided ◽  
Needle Steering ◽  
Needle Deflection ◽  
Main Components

In needle-based medical procedures, beveled tip flexible needles are steered inside soft tissue to reach the desired target locations. In this paper, we have developed an autonomous image-guided needle steering system that enhances targeting accuracy in needle insertion while minimizing tissue trauma. The system has three main components. First is a novel mechanics-based needle steering model that predicts needle deflection and accepts needle tip rotation as an input for needle steering. The second is a needle tip tracking system that determines needle deflection from the ultrasound images. The needle steering model employs the estimated needle deflection at the present time to predict needle tip trajectory in the future steps. The third component is a nonlinear model predictive controller (NMPC) that steers the needle inside the tissue by rotating the needle beveled tip. The MPC controller calculates control decisions based on iterative optimization of the predictions of the needle steering model. To validate the proposed ultrasound-guided needle steering system, needle insertion experiments in biological tissue phantoms are performed in two cases–with and without obstacle. The results demonstrate that our needle steering strategy guides the needle to the desired targets with the maximum error of 2.85[Formula: see text]mm.

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

2015 ◽  
Vol 37 (1) ◽  
pp. 145-150 ◽  
Author(s):  
Momen Abayazid ◽  
Pedro Moreira ◽  
Navid Shahriari ◽  
Sachin Patil ◽  
Ron Alterovitz ◽  
...  
Keyword(s):  
Biological Tissue ◽  
Three Dimensional ◽  
Curved Surfaces ◽  
Ultrasound Guided ◽  
Needle Steering

scholarly journals Experimental evaluation of ultrasound-guided 3D needle steering in biological tissue

2014 ◽  
Vol 9 (6) ◽  
pp. 931-939 ◽  
Author(s):  
Momen Abayazid ◽  
Gustaaf J. Vrooijink ◽  
Sachin Patil ◽  
Ron Alterovitz ◽  
Sarthak Misra
Keyword(s):  
Biological Tissue ◽  
Experimental Evaluation ◽  
Ultrasound Guided ◽  
Needle Steering

scholarly journals Semi-Automated Needle Steering in Biological Tissue Using an Ultrasound-Based Deflection Predictor

2016 ◽  
Vol 45 (4) ◽  
pp. 924-938 ◽  
Author(s):  
Mohsen Khadem ◽  
Carlos Rossa ◽  
Nawaid Usmani ◽  
Ron S. Sloboda ◽  
Mahdi Tavakoli
Keyword(s):  
Biological Tissue ◽  
Needle Steering

Surgeon-in-the-Loop 3-D Needle Steering Through Ultrasound-Guided Feedback Control

2018 ◽  
Vol 3 (1) ◽  
pp. 469-476 ◽  
Author(s):  
Jay Carriere ◽  
Mohsen Khadem ◽  
Carlos Rossa ◽  
Nawaid Usmani ◽  
Ronald Sloboda ◽  
...  
Keyword(s):  
Feedback Control ◽  
Ultrasound Guided ◽  
Needle Steering
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