Print Email Facebook Twitter Steering an actuated-tip needle in biological tissue Title Steering an actuated-tip needle in biological tissue: Fusing FBG-sensor data and ultrasound images Author Shahriari, N. (University of Twente; Rijksuniversiteit Groningen) Roesthuis, RJ (University of Twente) van de Berg, N.J. (TU Delft Medical Instruments & Bio-Inspired Technology) van den Dobbelsteen, J.J. (TU Delft Medical Instruments & Bio-Inspired Technology) Misra, S (University of Twente; Rijksuniversiteit Groningen) Date 2016 Abstract Needle insertion procedures are commonly performed in current clinical practice for diagnostic and therapeutic purposes. Although prevailing technology allows accurate localization of lesions, they cannot yet be precisely targeted. Needle steering is a promising technique to overcome this challenge. In this paper, we describe the development of a novel steering system for an actuated-tip flexible needle. Strain measurements from an array of Fiber Bragg Grating (FBG) sensors are used for online reconstruction of the needle shape in 3D-space. FBG-sensor data is then fused with ultrasound images obtained from a clinically-approved Automated Breast Volume Scanner (ABVS) using an unscented Kalman filter. A new ultrasound-based tracking algorithm is developed for the robust tracking of the needle in biological tissue. Two experimental cases are presented to evaluate the proposed steering system. In the first case, the needle shape is reconstructed using the tracked tip position in ultrasound images and FBG-sensor measurements, separately. The reconstructed shape is then compared with the actual 3D needle shape obtained from the ABVS. In the second case, two steering experiments are performed to evaluate the overall system by fusing the FBG-sensor data and ultrasound images. Average targeting errors are 1.29±0.41 mm and 1.42±0.72 mm in gelatin phantom and biological tissue, respectively. To reference this document use: http://resolver.tudelft.nl/uuid:3cd189ba-3386-4df1-aecf-2cac840c7572 DOI https://doi.org/10.1109/ICRA.2016.7487644 Publisher IEEE Society, Piscataway, NJ, USA ISBN 978-1-4673-8026-3 Source Proceedings of the IEEE International Conference on Robotics and Automation: ICRA 2016 Event 2016 IEEE International Conference on Robotics and Automation, 2016-05-16 → 2016-05-21, Stockholm Waterfront Congress Centre, Stockholm, Sweden Bibliographical note Accepted Author Manuscript Part of collection Institutional Repository Document type conference paper Rights © 2016 N. Shahriari, RJ Roesthuis, N.J. van de Berg, J.J. van den Dobbelsteen, S Misra Files PDF ICRA2016_NS_RR_NvdB_JvdD_SM.pdf 3.05 MB Close viewer /islandora/object/uuid:3cd189ba-3386-4df1-aecf-2cac840c7572/datastream/OBJ/view