3-D ultrasound-guided robotic needle steering in biological tissue.
3-D ultrasound-guided robotic needle steering in biological tissue.
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DOI：
10.1109/tbme.2014.2334309
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发表时间：
2014-12
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：
Adebar TK;Fletcher AE;Okamura AM
机器人针导向系统有潜力极大地改善医疗干预，但他们需要新的方法来医学图像引导。三维（3-D）超声是一种广泛使用的低成本成像方式，可用于向针导向机器人提供实时反馈。不幸的是，在标准灰度超声中，可操纵针的可视性很差，使得针的自动分割不切实际。提出了一种新的成像方法，利用可操纵针的高频振动使其在超声多普勒图像中可见。实验表明，该多普勒数据的分割精度在1 ~ 2mm以内。本文还描述了一种结合分割数据作为反馈的图像引导控制算法。在离体牛肝组织的实验测试中，实现该控制方案的机器人针转向系统能够持续地将针尖转向模拟目标，平均误差为1.57 mm。在生物组织中实现三维超声引导下的针导向是机器人针导向临床应用的重要一步。
Robotic needle steering systems have the potential to greatly improve medical interventions, but they require new methods for medical image guidance. Three-dimensional (3-D) ultrasound is a widely available, low-cost imaging modality that may be used to provide real-time feedback to needle steering robots. Unfortunately, the poor visibility of steerable needles in standard grayscale ultrasound makes automatic segmentation of the needles impractical. A new imaging approach is proposed, in which high-frequency vibration of a steerable needle makes it visible in ultrasound Doppler images. Experiments demonstrate that segmentation from this Doppler data is accurate to within 1–2 mm. An image-guided control algorithm that incorporates the segmentation data as feedback is also described. In experimental tests in ex vivo bovine liver tissue, a robotic needle steering system implementing this control scheme was able to consistently steer a needle tip to a simulated target with an average error of 1.57 mm. Implementation of 3-D ultrasound-guided needle steering in biological tissue represents a significant step toward the clinical application of robotic needle steering.