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Towards 3D ultrasound guided needle steering robust to uncertainties, noise and tissue heterogeneity

Guillaume Lapouge 1, 2 Philippe Poignet 2 Jocelyne Troccaz 1
1 TIMC-GMCAO [2020-....] - Gestes Medico-chirurgicaux Assistés par Ordinateur [2020-....]
TIMC [2020-....] - Techniques de l'Ingénierie Médicale et de la Complexité - Informatique, Mathématiques et Applications, Grenoble - UMR 5525 [2020-....]
2 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : This paper presents a new solution for 3D steering of flexible needles guided by 3D B-mode ultrasound imaging. It aims to realize a robust steering, by accounting for uncertainties, noise and tissue heterogeneities, while limiting tissue-related disturbances. The proposed solution features interconnected state observer, automatic needle tip segmentation and path planning algorithms. Measurement quality, state uncertainties and tissue heterogeneity are considered for robust needle steering with helical paths of variable curvature. Fast replanning allows for adaptability to unexpected disturbances. An experimental validation has been done through 62 insertions of 24 Gauge bevel-tip nitinol needles in various tissue. Results are promising, characterized by mean targeting errors of less than 1 mm in homogeneous phantoms, 1.5 ± 0.9 mm in heterogeneous phantoms and 1.7 ± 0.8 mm in ex-vivo tissue. This new approach is a step towards a precise and robust patient-specific gesture.
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https://hal.archives-ouvertes.fr/hal-02936822
Contributeur : Jocelyne Troccaz <>
Soumis le : vendredi 11 septembre 2020 - 17:28:01
Dernière modification le : lundi 28 septembre 2020 - 15:00:36

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  • HAL Id : hal-02936822, version 1

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Guillaume Lapouge, Philippe Poignet, Jocelyne Troccaz. Towards 3D ultrasound guided needle steering robust to uncertainties, noise and tissue heterogeneity. IEEE Transactions on Biomedical Engineering, Institute of Electrical and Electronics Engineers, In press. ⟨hal-02936822⟩

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