|P. Chatelain, A. Krupa, N. Navab
3D Ultrasound-Guided Robotic Steering of a Flexible Needle via Visual Servoing
Proceedings of the 2015 IEEE International Conference on Robotics and Automation (ICRA), Seattle, WA, May 2015 (bib)
|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.
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