Int J Comput Assist Radiol Surg - Experimental evaluation of ultrasound-guided 3D needle steering in biological tissue.

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Resumo

RPOSE: In this paper, we present a system capable of automatically steering bevel tip flexible needles under ultrasound guidance toward stationary and moving targets in gelatin phantoms and biological tissue while avoiding stationary and moving obstacles. We use three-dimensional (3D) ultrasound to track the needle tip during the procedure.METHODS: Our system uses a fast sampling-based path planner to compute and periodically update a feasible path to the target that avoids obstacles. We then use a novel control algorithm to steer the needle along the path in a manner that reduces the number of needle rotations, thus reducing tissue damage. We present experimental results for needle insertion procedures for both stationary and moving targets and obstacles for up to 90?mm of needle?insertion.RESULTS: We obtained a mean targeting error of [Formula: see text] and [Formula: see text]?mm in gelatin-based phantom and biological tissue, respectively.CONCLUSIONS: The achieved submillimeter accuracy suggests that our approach is sufficient to target the smallest lesions ([Formula: see text]?2?mm) that can be detected using state-of-the-art ultrasound imaging?systems.

Resumo Limpo

rpose paper present system capabl automat steer bevel tip flexibl needl ultrasound guidanc toward stationari move target gelatin phantom biolog tissu avoid stationari move obstacl use threedimension d ultrasound track needl tip proceduremethod system use fast samplingbas path planner comput period updat feasibl path target avoid obstacl use novel control algorithm steer needl along path manner reduc number needl rotat thus reduc tissu damag present experiment result needl insert procedur stationari move target obstacl mm needleinsertionresult obtain mean target error formula see text formula see textmm gelatinbas phantom biolog tissu respectivelyconclus achiev submillimet accuraci suggest approach suffici target smallest lesion formula see textmm can detect use stateoftheart ultrasound imagingsystem

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