Steering an actuated-tip needle in biological tissue: Fusing FBG-sensor data and ultrasound images

N. Shahriari, RJ Roesthuis, Nick J. Van De Berg, John J. Van Den Dobbelsteen, S Misra

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

6 Citations (Scopus)
33 Downloads (Pure)

Abstract

Needle insertion procedures are commonly performed in current clinical practice for diagnostic and therapeutic purposes. Although prevailing technology allows accurate localization of lesions, they cannot yet be precisely targeted. Needle steering is a promising technique to overcome this challenge. In this paper, we describe the development of a novel steering system for an actuated-tip flexible needle. Strain measurements from an array of Fiber Bragg Grating (FBG) sensors are used for online reconstruction of the needle shape in 3D-space. FBG-sensor data is then fused with ultrasound images obtained from a clinically-approved Automated Breast Volume Scanner (ABVS) using an unscented Kalman filter. A new ultrasound-based tracking algorithm is developed for the robust tracking of the needle in biological tissue. Two experimental cases are presented to evaluate the proposed steering system. In the first case, the needle shape is reconstructed using the tracked tip position in ultrasound images and FBG-sensor measurements, separately. The reconstructed shape is then compared with the actual 3D needle shape obtained from the ABVS. In the second case, two steering experiments are performed to evaluate the overall system by fusing the FBG-sensor data and ultrasound images. Average targeting errors are 1.29±0.41 mm and 1.42±0.72 mm in gelatin phantom and biological tissue, respectively.

Original languageEnglish
Title of host publicationProceedings of the IEEE International Conference on Robotics and Automation
Subtitle of host publicationICRA 2016
Place of PublicationPiscataway, NJ, USA
PublisherIEEE Society
Pages4443-4449
ISBN (Electronic)978-1-4673-8026-3
DOIs
Publication statusPublished - 2016
Event2016 IEEE International Conference on Robotics and Automation - Stockholm Waterfront Congress Centre, Stockholm, Sweden
Duration: 16 May 201621 May 2016
https://www.icra2016.org/

Conference

Conference2016 IEEE International Conference on Robotics and Automation
Abbreviated titleICRA 2016
CountrySweden
CityStockholm
Period16/05/1621/05/16
Internet address

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