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Needle path planning and steering in a three-dimensional non-static environment using two-dimensional ultrasound images.

ABSTRACT: Needle insertion is commonly performed in minimally invasive medical procedures such as biopsy and radiation cancer treatment. During such procedures, accurate needle tip placement is critical for correct diagnosis or successful treatment. Accurate placement of the needle tip inside tissue is challenging, especially when the target moves and anatomical obstacles must be avoided. We develop a needle steering system capable of autonomously and accurately guiding a steerable needle using two-dimensional (2D) ultrasound images. The needle is steered to a moving target while avoiding moving obstacles in a three-dimensional (3D) non-static environment. Using a 2D ultrasound imaging device, our system accurately tracks the needle tip motion in 3D space in order to estimate the tip pose. The needle tip pose is used by a rapidly exploring random tree-based motion planner to compute a feasible needle path to the target. The motion planner is sufficiently fast such that replanning can be performed repeatedly in a closed-loop manner. This enables the system to correct for perturbations in needle motion, and movement in obstacle and target locations. Our needle steering experiments in a soft-tissue phantom achieves maximum targeting errors of 0.86 ± 0.35 mm (without obstacles) and 2.16 ± 0.88 mm (with a moving obstacle).

SUBMITTER: Vrooijink GJ

PROVIDER: S-EPMC4535822 | biostudies-literature | 2014 Sep

REPOSITORIES: biostudies-literature

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Needle path planning and steering in a three-dimensional non-static environment using two-dimensional ultrasound images.

Vrooijink Gustaaf J GJ Abayazid Momen M Patil Sachin S Alterovitz Ron R Misra Sarthak S

The International journal of robotics research 20140901 10

Needle insertion is commonly performed in minimally invasive medical procedures such as biopsy and radiation cancer treatment. During such procedures, accurate needle tip placement is critical for correct diagnosis or successful treatment. Accurate placement of the needle tip inside tissue is challenging, especially when the target moves and anatomical obstacles must be avoided. We develop a needle steering system capable of autonomously and accurately guiding a steerable needle using two-dimens ...[more]

PMID: 26279600

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Project description:BackgroundEndometrial thickness is an essential factor affecting female fertility. Clinically, ultrasound imaging is the first choice for the examination of uterine and endometrial-related diseases. However, the boundary of some endometrial is challenging to distinguish due to the effects of image resolution and noise. In addition, the irregular shape of the endometrium makes it more difficult for doctors to measure its thickness. Through the automatic segmentation and extraction of the endometrium, the maximum thickness of the endometrium can be measured automatically and accurately. This provides a quantitative index for doctors to use diagnostically.MethodsIn this study, 85 cases of three-dimensional transvaginal ultrasound (3D TVUS) images were collected retrospectively, including 75 cases of endometrial adhesion and 10 cases of non-adhesion. Firstly, the ultrasound images were filtered by block-matching and 3D filtering and speckle reducing anisotropic diffusion (SRAD). These two kinds of filtered images were combined with the original image to construct a three-channel image. Then, the augmented images were sent to 3D U-Net to realize endometrium segmentation. The performance of the segmentation models was evaluated using the Dice similarity coefficient (DSC), Jaccard, sensitivity, and 95th percentile Hausdorff distance (HD95). Finally, the medial axis transform was used to extract the endometrial centerline, based on which the endometrial thickness could be automatically measured.ResultsThe endometrium segmentation method proposed in this paper achieved 90.83% in Dice, 83.35% in Jaccard, 90.85% in sensitivity, and 12.75 mm in HD95 in the testing set. Taking the doctor's manual measurement as the gold standard, 94.20% of the automatic endometrial thickness measurements based on the segmentation results were within the allowable error range of clinical diagnosis.ConclusionsThis paper presents an automatic endometrium segmentation and thickness measurement method for 3D TVUS images. The experimental results show that this method has high segmentation accuracy to recognize endometrial adhesion images. Furthermore, the thickness measurement based on the segmentation results has high reliability and repeatability, and the accuracy can meet clinical diagnosis needs.

Project description:The focus of research in biped locomotion has moved toward real-life scenario applications, like walking on uneven terrain, passing through doors, climbing stairs and ladders. As a result, we are witnessing significant advances in the locomotion of biped robots, enabling them to move in hazardous environments while simultaneously accomplishing complex manipulation tasks. Yet, considering walking in an unknown environment, the efficiency of humanoid robots is still far from being comparable with the human. Currently, bipeds are very sensitive to external changes and they have severe constraints for adaptation of walk to conditions from such a complex environment. Promising approaches for efficient generation and realization of walking in a complex environment are based on biological solutions that have been developed for many years of evolution. This work presents one such human-inspired methodology for path planning and realization of biped walk appropriate for motion in a complex unfamiliar environment. Path planning results in calculating clothoid curves that represent well the human-like walking path. The robot walk is realized by the composition of parametric motion primitives. Such an approach enables on-line modification of planned path and walk parameters at any moment, instantly. To establish the relationship between high-level path planner and the low-level joint motion realization, we had to find a way to extract the parameters of the clothoid paths that can be linked with the parameters of the walk and consequently to motion primitive parameters. This enabled the robot to adopt its walking for avoiding the obstacles and for a smooth transition between different paths. In this paper we provide a complete framework that integrates the following components: (i) bio-inspired online path planning, (ii) path-dependent automatic calculation of high-level gait parameters (step length, walking speed, direction, and the height of the foot sole), and (iii) automatic calculation of low-level joint movements and corresponding control terms (driving motor voltage) through the adaptation of motion primitives which realize walking pattern and preserves the dynamic balance of the robot.

Dataset Information

Needle path planning and steering in a three-dimensional non-static environment using two-dimensional ultrasound images.

Publications

Needle path planning and steering in a three-dimensional non-static environment using two-dimensional ultrasound images.

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