title: Real-time 3D curved needle segmentation using combined B-mode and power Doppler ultrasound.
abstract: This paper presents a real-time segmentation method for curved needles in biological tissue based on analysis of B-mode and power Doppler images from a tracked 2D ultrasound transducer. Mechanical vibration induced by an external voice coil results in a Doppler response along the needle shaft, which is centered around the needle section in the ultrasound image. First, B-mode image analysis is performed within regions of interest indicated by the Doppler response to create a segmentation of the needle section in the ultrasound image. Next, each needle section is decomposed into a sequence of points and transformed into a global coordinate system using the tracked transducer pose. Finally, the 3D shape is reconstructed from these points. The results of this method differ from manual segmentation by 0.71 ± 0.55 mm in needle tip location and 0.38 ± 0.27 mm along the needle shaft. This method is also fast, taking 5-10 ms to run on a standard PC, and is particularly advantageous in robotic needle steering, which involves thin, curved needles with poor echogenicity.
authors.forename: Joseph D
authors.initials: JD
authors.lastname: Greer
authors.forename: Troy K
authors.initials: TK
authors.lastname: Adebar
authors.forename: Gloria L
authors.initials: GL
authors.lastname: Hwang
authors.forename: Allison M
authors.initials: AM
authors.lastname: Okamura
mesh_terms: D000818:Animals; D001185:Artificial Intelligence; D003199:Computer Systems; D007090:Image Interpretation, Computer-Assisted / Q000379:methods; D021621:Imaging, Three-Dimensional / Q000379:methods*; D064847:Multimodal Imaging / Q000379:methods*; D009339:Needles; D011677:Punctures / Q000295:instrumentation / Q000379:methods*; D015203:Reproducibility of Results; D065287:Robotic Surgical Procedures / Q000379:methods*; D012680:Sensitivity and Specificity; D025321:Surgery, Computer-Assisted / Q000379:methods*; D013552:Swine; D018608:Ultrasonography, Doppler / Q000295:instrumentation*