Robotic Needle Placement Using Multiview Ultrasound Imaging

准确的针头定位对于许多医疗程序是至关重要的，包括活组织检查和放射治疗。超声波成像通常用于将针引导到目标区域。然而，由于用户对图像质量的依赖、有限的视场和移动的目标，这仍然是一个挑战。在这项研究中，我们将开发一种新的方法，利用安装在第二个机器人上的超声波探头，将机器人引导的针半自主地移动到目标上。在这种情况下，三维跟踪是必不可少的，因为针向目标的精确导航依赖于准确地知道超声波探头和针相对于目标的位置。如果没有准确地遵循这两个元素的位置，则该过程的总体精度将受到影响。此外，准确的跟踪影响到操作安全、患者舒适度和设备的整体可用性。在成像方面，马赞科夫斯基心脏研究所最近用超声波探头测量了一只机械臂。多视角超声成像是通过利用机械臂中的角度传感器测量超声探头的位置和方向，然后将这些多视角图像融合成具有更大视场和更高图像质量的新图像来完成的。与这种方法类似，我们想购买第二个医疗级机械臂，以帮助定位和引导针头指向目标。这两个机器人将在一个共享的坐标系和控制回路中同步。使用监控方法，这样的系统可以通过添加额外的功能来帮助临床医生更准确地将针引向目标，例如使用MRI和超声波成像的融合显示针相对于目标和周围器官的3D位置，避免碰撞，处理移动目标的能力，并最终实现整个导航过程的自动化。我们想购买一个医疗级的KUKA LBR Med 7R800机器人来控制针头的插入。医疗级是必不可少的，因为它是负责最终将针头移入患者体内的机器人。

Accurate needle positioning is essential for many medical procedures, including biopsies and radiotherapy. Ultrasound imaging is commonly used to guide the needle to the target region. However, this continues to be a challenge due to the user's reliance on image quality, limited field of view and moving target. In this research, we will develop a new approach whereby a robotic guided needle is moved semi-autonomously to a target using an ultrasound probe mounted on a second robot. Three-dimensional tracking is essential in this case because the precise navigation of the needle toward a target relies on knowing exactly where the ultrasound probe and the needle are relative to the target. If the location of the two elements is not accurately followed, the overall accuracy of the procedure is compromised. In addition, accurate tracking affects procedure safety, patient comfort and overall usability of the device. In terms of imaging, a robotic arm was recently instrumented at the Mazankowski Heart Institute with an ultrasonic probe. Multiview ultrasound imaging is accomplished by measuring the position and orientation of the ultrasound probe using the angle sensors in the robotic arm and then fusing these Multiview images into a new image with a larger field of view and improved image quality. Similar to this approach, we would like to purchase a second medical-grade robotic arm to help localize and direct the needle to the target. Both robots will be synchronized within a shared coordinate system and control loop. Using a supervisory control approach, such a system could help clinicians guide the needle more accurately toward the target by adding extra functionalities such as a 3D display of the needle location relative to the target and surrounding organs using the fusion of MRI and ultrasound imaging, collision avoidance, the ability to deal with moving targets, and eventually to automate the entire navigation procedure. We would like to buy a medical grade KUKA LBR Med 7 R800 robot to control the needle insertion. The medical grade is essential because it is the robot responsible for eventually moving the needle into a patient's body.