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

Pierre Chatelain, Alexandre Krupa, Nassir Navab
2015 2015 IEEE International Conference on Robotics and Automation (ICRA)  
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.
more » ... feedback. Experimental results of a targeting task demonstrate the robustness of the proposed tracking algorithm and the feasibility of 3D ultrasound-guided needle steering.
doi:10.1109/icra.2015.7139497 dblp:conf/icra/ChatelainKN15 fatcat:u27ozs52ovhehlzielu5yspypi