Ultrasound-guided three-dimensional needle steering in biological tissue with curved surfaces.

ABSTRACT: In this paper, we present a system capable of automatically steering a bevel-tipped flexible needle under ultrasound guidance toward a physical target while avoiding a physical obstacle embedded in gelatin phantoms and biological tissue with curved surfaces. An ultrasound pre-operative scan is performed for three-dimensional (3D) target localization and shape reconstruction. A controller based on implicit force control is developed to align the transducer with curved surfaces to assure the maximum contact area, and thus obtain an image of sufficient quality. We experimentally investigate the effect of needle insertion system parameters such as insertion speed, needle diameter and bevel angle on target motion to adjust the parameters that minimize the target motion during insertion. A fast

SUBMITTER: Abayazid M 

PROVIDER: S-EPMC4409936 | biostudies-literature | 2015 Jan

REPOSITORIES: biostudies-literature