3D ultrasound registration-based visual servoing for neurosurgical navigation
Zettinig O, Frisch B, Virga S, Esposito M, Rienmueller A, Meyer B, Hennersperger C, Ryang YM, Navab N (2017)
Publication Type: Journal article
Publication year: 2017
Journal
Book Volume: 12
Pages Range: 1607-1619
Journal Issue: 9
DOI: 10.1007/s11548-017-1536-2
Abstract
Purpose: We present a fully image-based visual servoing framework for neurosurgical navigation and needle guidance. The proposed servo-control scheme allows for compensation of target anatomy movements, maintaining high navigational accuracy over time, and automatic needle guide alignment for accurate manual insertions. Method: Our system comprises a motorized 3D ultrasound (US) transducer mounted on a robotic arm and equipped with a needle guide. It continuously registers US sweeps in real time with a pre-interventional plan based on CT or MR images and annotations. While a visual control law maintains anatomy visibility and alignment of the needle guide, a force controller is employed for acoustic coupling and tissue pressure. We validate the servoing capabilities of our method on a geometric gel phantom and real human anatomy, and the needle targeting accuracy using CT images on a lumbar spine gel phantom under neurosurgery conditions. Results: Despite the varying resolution of the acquired 3D sweeps, we achieved direction-independent positioning errors of 0.35 ± 0.19 mm and 0. 61 ∘± 0. 45 ∘, respectively. Our method is capable of compensating movements of around 25 mm/s and works reliably on human anatomy with errors of 1.45 ± 0.78 mm. In all four manual insertions by an expert surgeon, a needle could be successfully inserted into the facet joint, with an estimated targeting accuracy of 1.33 ± 0.33 mm, superior to the gold standard. Conclusion: The experiments demonstrated the feasibility of robotic ultrasound-based navigation and needle guidance for neurosurgical applications such as lumbar spine injections.
Involved external institutions
Germany (DE)How to cite
APA:
Zettinig, O., Frisch, B., Virga, S., Esposito, M., Rienmueller, A., Meyer, B.,... Navab, N. (2017). 3D ultrasound registration-based visual servoing for neurosurgical navigation. International Journal of Computer Assisted Radiology and Surgery, 12(9), 1607-1619. https://doi.org/10.1007/s11548-017-1536-2
MLA:
Zettinig, Oliver, et al. "3D ultrasound registration-based visual servoing for neurosurgical navigation." International Journal of Computer Assisted Radiology and Surgery 12.9 (2017): 1607-1619.
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