Real-time parametric curved needle segmentation in 3D ultrasound images

3D Ultrasound-guided needle insertion has recently received much attention in minimally invasive percutaneous procedures such as image guided needle steering. In this paper we present a novel technique for real-time detection of curved needles in three-dimensional ultrasound images. A new parameterization for the generalized Radon transform is introduced and implemented on a graphics processing unit using NVIDIApsilas Compute Unified Device Architecture (CUDA) programming. The effectiveness of the algorithm is demonstrated on reconstructed 3D-US images of a brachytherapy needle carried by a laparoscopic needle holder mounted on a minimally invasive surgical robotic test-bed. Results of experiments for insertion of three different needles into a tissue mimicking gelatin agar cube are presented.

[1]  J. Dawson,et al.  Dose effects of seeds placement deviations from pre-planned positions in ultrasound guided prostate implants. , 1995, Radiotherapy and oncology : journal of the European Society for Therapeutic Radiology and Oncology.

[2]  D. Sze.  Use of curved needles to perform biopsies and drainages of inaccessible targets. , 2001, Journal of vascular and interventional radiology : JVIR.

[3]  William H Press,et al.  Discrete Radon transform has an exact, fast inverse and generalizes to operations other than sums along lines , 2006, Proceedings of the National Academy of Sciences.

[4]  Septimiu E. Salcudean,et al.  Needle steering and motion planning in soft tissues , 2005, IEEE Transactions on Biomedical Engineering.

[5]  Jens H. Krüger,et al.  A Survey of General‐Purpose Computation on Graphics Hardware , 2007, Eurographics.

[6]  K. Ogan,et al.  Percutaneous radiofrequency ablation of renal tumors: technique, limitations, and morbidity. , 2002, Urology.

[7]  Rajni V. Patel,et al.  Needle insertion into soft tissue: a survey. , 2007, Medical engineering & physics.

[8]  Kenneth Y. Goldberg,et al.  Constant-Curvature Motion Planning Under Uncertainty with Applications in Image-Guided Medical Needle Steering , 2006, WAFR.

[9]  Aaron Fenster,et al.  A real-time biopsy needle segmentation technique using Hough transform. , 2003, Medical physics.

[10]  Cris L. Luengo Hendriks,et al.  The generalized Radon transform: Sampling, accuracy and memory considerations , 2004, Pattern Recognit..

[11]  Gregory Beylkin,et al.  Discrete radon transform , 1987, IEEE Trans. Acoust. Speech Signal Process..

[12]  Rajnikant V. Patel,et al.  MIRA V: An integrated system for minimally invasive robot-assisted lung brachytherapy , 2008, 2008 IEEE International Conference on Robotics and Automation.

[13]  Robert Rohling,et al.  Methods for segmenting curved needles in ultrasound images , 2006, Medical Image Anal..

[14]  Jin Seob Kim,et al.  Nonholonomic Modeling of Needle Steering , 2006, Int. J. Robotics Res..

[15]  Robert D. Howe,et al.  GPU Based Real-Time Instrument Tracking with Three Dimensional Ultrasound , 2006, MICCAI.

[16]  S. Tong,et al.  Analysis of linear, area and volume distortion in 3D ultrasound imaging. , 1998, Ultrasound in medicine & biology.

[17]  Orcun Goksel,et al.  A Comparison of Needle Bending Models , 2006, MICCAI.