Remote Electromagnetic Vibration of Steerable Needles for Imaging in Power Doppler Ultrasound.
Remote Electromagnetic Vibration of Steerable Needles for Imaging in Power Doppler Ultrasound.
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DOI：
10.1109/icra.2015.7139496
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发表时间：
2015-05
期刊：
影响因子：
--
通讯作者：
Okamura AM
中科院分区：
文献类型：
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作者：
Cabreros SS;Jimenez NM;Greer JD;Adebar TK;Okamura AM
用于微创医疗过程的机器人针操纵系统需要互补的医疗成像系统来真实的实时跟踪针。超声是一种有前途的成像方式，因为它提供了相对低成本的针的实时成像。先前的方法使用音圈致动器将振动施加到针的基部，以便使针在功率多普勒超声中可见。我们提出了一种用于针尖振动的新方法，使用放置在针内的小永磁体的电磁致动来提高针尖在能量多普勒成像中的可见性。使用人工组织和离体猪肝的机器人针插入实验表明，与先前的基础振动方法相比，电磁尖端振动方法可以产生更强的多普勒响应，从而在组织中更大的针深度处实现更好的成像。它还消除了先前关于沿针的轴沿着振动阻尼的问题。
Robotic needle steering systems for minimally invasive medical procedures require complementary medical imaging systems to track the needles in real time. Ultrasound is a promising imaging modality because it offers relatively low-cost, real-time imaging of the needle. Previous methods applied vibration to the base of the needle using a voice coil actuator, in order to make the needle visible in power Doppler ultrasound. We propose a new method for needle tip vibration, using electromagnetic actuation of small permanent magnets placed inside the needle to improve needle tip visibility in power Doppler imaging. Robotic needle insertion experiments using artificial tissue and ex vivo porcine liver showed that the electromagnetic tip vibration method can generate a stronger Doppler response compared to the previous base vibration method, resulting in better imaging at greater needle depth in tissue. It also eliminates previous issues with vibration damping along the shaft of the needle.