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Poster De Conférence Année : 2018

Needle localization for needle steering under 3D ultrasound feedback

Résumé

In needle steering, estimating the needle pose is a critical problem. In 3D ultrasound volumes, fine needle localization is difficult and requires a combination of estimation and image processing to be successful. Indeed, 3D ultrasound imaging suffers from noise, artifacts and works at a low frequency. We propose a needle tip pose estimation method in the context of 3D robotic needle steering under 3D ultrasound feedback, based on multi-rate, multi-sensor fusion [1].
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Dates et versions

hal-01896975 , version 1 (18-10-2018)

Identifiants

  • HAL Id : hal-01896975 , version 1

Citer

Guillaume Lapouge, Jocelyne Troccaz, Philippe Poignet. Needle localization for needle steering under 3D ultrasound feedback. CSR: Continuum and Soft Robots, Oct 2018, Madrid, Spain. , Continuum and Soft Robots (CSR) for Medical Interventions: Modelling, Fabrication, and Control - IROS Workshop, 2018. ⟨hal-01896975⟩
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