Archive ouverte HAL - Needle localization for needle steering under 3D ultrasound feedback

Needle localization for needle steering under 3D ultrasound feedback

Guillaume Lapouge 1, 2 Jocelyne Troccaz 1 Philippe Poignet 2
1 TIMC-IMAG-GMCAO - Gestes Medico-chirurgicaux Assistés par Ordinateur
TIMC-IMAG - Techniques de l'Ingénierie Médicale et de la Complexité - Informatique, Mathématiques et Applications, Grenoble
2 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : 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].
Type de document :
Poster
CSR: Continuum and Soft Robots, Oct 2018, Madrid, Spain. Continuum and Soft Robots (CSR) for Medical Interventions: Modelling, Fabrication, and Control - IROS Workshop, 2018, 〈http://events.femto-st.fr/Workshop-IROS2018-Continuum-Soft-Robotics/〉
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https://hal.archives-ouvertes.fr/hal-01896975
Contributeur : Jocelyne Troccaz <>
Soumis le : jeudi 18 octobre 2018 - 15:02:39
Dernière modification le : samedi 27 octobre 2018 - 01:15:01

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  • HAL Id : hal-01896975, version 1

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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, 〈http://events.femto-st.fr/Workshop-IROS2018-Continuum-Soft-Robotics/〉. 〈hal-01896975〉

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