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

Pierre Chatelain 1, 2 Alexandre Krupa 2 Nassir Navab 1
2 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
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. I. INTRODUCTION Medical procedures such as biopsy or localized tumor ablation require the insertion of a needle towards a precise anatomical target. The accuracy of the insertion has a critical impact on the outcome of the intervention, and depends highly on the skills of the operator. Therefore robotic needle guidance has the potential to improve diagnostic and therapeutic accuracy, as it was recalled in a recent study on robotic needle guidance for prostate cancer management [1]. The most commonly used imaging modality for needle guidance is ultrasonography, which presents the advantages to be non-invasive and low cost compared to other imaging modalities. The high frame rate provided by the ultrasound devices also enables real-time feedback on the needle's position. Ultrasound-guided robotic needle insertion has become a strong area of interest in the scientific community during the past ten years. Hong et al. [2] designed a robotic system to drive a rigid needle towards a moving target tracked using 2D ultrasound. This system required the needle to be aligned with the ultrasound image plane. Wei et al. [3] proposed a 3D transrectal ultrasound (TRUS) guided robotic assisted system for prostate brachytherapy, which allows oblique needle insertion trajectories. However, even rigid needles are subject to deflection due to contact forces with surrounding tissues, and their trajectory is therefore not necessarily straight. This effect is particularly strong with flexible needles, which can undergo large deformations during insertion. The tip of such needles is generally beveled, so that contact forces with the tissues are asymmetrical, leading to a natural bending. The concept of needle steering, first proposed in [4], consists in taking advantage of the needle flexibility to guide it
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Communication dans un congrès
IEEE Int. Conf. on Robotics and Automation, ICRA'15, May 2015, Seattle, United States
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Pierre Chatelain, Alexandre Krupa, Nassir Navab. 3D ultrasound-guided robotic steering of a flexible needle via visual servoing. IEEE Int. Conf. on Robotics and Automation, ICRA'15, May 2015, Seattle, United States. 〈hal-01121224〉

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