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Real-time needle detection and tracking using a visually servoed 3D ultrasound probe

Pierre Chatelain 1 Alexandre Krupa 1 Maud Marchal 2 
1 Lagadic - Visual servoing in robotics, computer vision, and augmented reality
CRISAM - Inria Sophia Antipolis - Méditerranée , Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
2 VR4I - Virtual Reality for Improved Innovative Immersive Interaction
IRISA - Institut de Recherche en Informatique et Systèmes Aléatoires, ENS Cachan - École normale supérieure - Cachan, Inria Rennes – Bretagne Atlantique
Abstract : In this paper, we present a method to localize and track manually inserted needles in real-time using a three- dimensional ultrasound probe mounted on a robotized arm. The system tracks the needle using online image processing. We first propose a new algorithm capable of robustly detecting a needle from the moment it is inserted, without any a priori information on the insertion direction. By combining the random sample consensus (RANSAC) algorithm with Kalman filtering in closed loop, we achieve robust real-time tracking of the needle. In addition, we propose a control scheme to automatically guide the ultrasonic probe in order to keep the needle within the field of view, while aligning its axis with the ultrasound beam. This method will ease the insertion of the needle by the operator, and allow the development of autonomous needle insertion by medical robots
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Submitted on : Wednesday, May 8, 2013 - 9:09:35 AM
Last modification on : Thursday, January 20, 2022 - 4:19:56 PM
Long-term archiving on: : Tuesday, April 4, 2017 - 6:04:12 AM


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  • HAL Id : hal-00821231, version 1


Pierre Chatelain, Alexandre Krupa, Maud Marchal. Real-time needle detection and tracking using a visually servoed 3D ultrasound probe. IEEE Int. Conf. on Robotics and Automation, ICRA'13, May 2013, Karlsruhe, Germany. pp.1668-1673. ⟨hal-00821231⟩



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