Automatic and accurate needle detection in 2D ultrasound during robot-assisted needle insertion process

Author(s):  
Shihang Chen ◽  
Yanping Lin ◽  
Zhaojun Li ◽  
Fang Wang ◽  
Qixin Cao
2016 ◽  
Vol 01 (01) ◽  
pp. 1640001 ◽  
Author(s):  
Michael Waine ◽  
Carlos Rossa ◽  
Ron Sloboda ◽  
Nawaid Usmani ◽  
Mahdi Tavakoli

In many types of percutaneous needle insertion surgeries, tissue deformation and needle deflection can create significant difficulties for accurate needle placement. In this paper, we present a method for automatic needle tracking in 2D ultrasound (US) images, which is used in a needle–tissue interaction model to estimate current and future needle tip deflection. This is demonstrated using a semi-automatic needle steering system. The US probe can be controlled to follow the needle tip or it can be stopped at an appropriate position to avoid tissue deformation of the target area. US images are used to fully parameterize the needle-tissue model. Once the needle deflection reaches a pre-determined threshold, the robot rotates the needle to correct the tip’s trajectory. Experimental results show that the final needle tip deflection can be estimated with average accuracies between 0.7[Formula: see text]mm and 1.0[Formula: see text]mm for insertions with and without rotation. The proposed method provides surgeons with improved US feedback of the needle tip deflection and minimizes the motion of the US probe to reduce tissue deformation of the target area.


2021 ◽  
pp. 112972982199853
Author(s):  
Jens M Poth ◽  
Stefan F Ehrentraut ◽  
Se-Chan Kim

Central venous catheters (CVC) are widely used in critically ill patients and in those undergoing major surgery. Significant adverse events, such as pneumothorax and hemothorax, can be caused by needle insertion during CVC insertion. CVC misplacement is less often described, yet equally important, as it can lead to deleterious complications. Here, we describe a case in which misplacement of a guidewire following infraclavicular puncture of the right axillary vein was detected by continuous ultrasound employing the right supraclavicular fossa view. Utilizing this ultrasound view, the insertion approach to the vessel was changed and correct CVC placement could be achieved. While ultrasound guidance is widely accepted for vessel puncture, this case demonstrates the value of continuous ultrasound guidance for the entire process of CVC insertion: vessel puncture, correct guidewire advancement, catheter placement, and exclusion of complications such as pneumothorax. It also shows that there should be a high index of suspicion for guidewire misplacement, even after successful venipuncture. In conclusion, ultrasound protocols covering the complete CVC insertion process should be implemented into current clinical practice.


2015 ◽  
Vol 26 (s1) ◽  
pp. S375-S380 ◽  
Author(s):  
Wendong Wang ◽  
Yikai Shi ◽  
Andrew A. Goldenberg ◽  
Xiaoqing Yuan ◽  
Peng Zhang ◽  
...  

2018 ◽  
Vol 1004 ◽  
pp. 012037 ◽  
Author(s):  
Fei Xu ◽  
Dedong Gao ◽  
Shan Wang ◽  
A Zhanwen

2019 ◽  
Vol 19 (06) ◽  
pp. 1950060 ◽  
Author(s):  
WANYU LIU ◽  
ZHIYONG YANG ◽  
SHAN JIANG

During the percutaneous puncture for robot-assisted brachytherapy, a medical needle is usually inserted into fiber-structured soft tissue which has transverse isotropic elasticity, such as muscle and skin, to deliver radioactive seeds that kill cancer cells. To place the radioactive seeds more accurately, it is necessary to assess the effect of the transverse isotropic elasticity on the needle deflection. A mechanics-based model for simulating the needle deflection in transverse isotropic tissue is developed in this paper. The anisotropic needle–tissue interaction forces are estimated and used as inputs to drive the model for simulating needle deflections for different insertion orientation angles. Automatic insertion experiments were performed on a single-layered porcine muscle at five different insertion orientation angles. The results show that the maximum difference in the tip deflection for the different insertion orientation angles is 2.99[Formula: see text]mm when the insertion depth is 50[Formula: see text]mm. The maximum simulated error of the needle axis deflection is 0.62[Formula: see text]mm for all insertion orientation angles. The developed model can successfully simulate the needle deflections inside transverse isotropic tissue for different insertion orientation angles. This work is useful for predicting and compensating for the deflection error for automatic needle insertion.


2004 ◽  
Vol 1268 ◽  
pp. 1335 ◽  
Author(s):  
Yo Kobayashi ◽  
Jun Okamoto ◽  
Masakatsu G. Fujie

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