Needle Tip Tracking Based on Optical Imaging and AI
Deep needle insertion to a target often poses a huge challenge, requiring a combination of specialized skills, assistive technology, and extensive training. One of the frequently encountered medical scenarios demanding such expertise includes the needle insertion into a femoral vessel in the groin....
Saved in:
Published in | IEEE sensors journal Vol. 24; no. 17; pp. 28145 - 28153 |
---|---|
Main Authors | , , , , |
Format | Journal Article |
Language | English |
Published |
New York
IEEE
01.09.2024
The Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Subjects | |
Online Access | Get full text |
Cover
Loading…
Abstract | Deep needle insertion to a target often poses a huge challenge, requiring a combination of specialized skills, assistive technology, and extensive training. One of the frequently encountered medical scenarios demanding such expertise includes the needle insertion into a femoral vessel in the groin. Conventionally, deep needle insertion is guided by ultrasound (US) imaging. However, utilizing US for needle tracking demands specialized training and skill to manipulate the probe effectively and interpret the imaging accurately. To address this challenge, this article presents an innovative technology for needle tip real-time tracking. This advancement will be instrumental in facilitating robotic-guided needle insertion toward the identified target. Specifically, our approach revolves around the creation of scattering imaging using an optical fiber-equipped needle and uses convolutional neural network (CNN)-based algorithms to enable real-time estimation of the needle tip's position and orientation during insertion procedures. The efficacy of the proposed technology was rigorously evaluated through three experiments. The first two experiments involved rubber and bacon phantoms to simulate groin anatomy. The positional errors averaging <inline-formula> <tex-math notation="LaTeX">2.3~\pm ~1.5 </tex-math></inline-formula> and <inline-formula> <tex-math notation="LaTeX">2.0~\pm ~1.2 </tex-math></inline-formula>mm, and the orientation errors averaging <inline-formula> <tex-math notation="LaTeX">0.2~\pm ~0.11 </tex-math></inline-formula> and <inline-formula> <tex-math notation="LaTeX">0.16~\pm ~0.1 </tex-math></inline-formula>rad. Furthermore, the system's capabilities were validated through experiments conducted on fresh porcine phantom mimicking more complex anatomical structures, yielding the positional accuracy results of <inline-formula> <tex-math notation="LaTeX">3.2~\pm ~3.1 </tex-math></inline-formula>mm and an orientational accuracy of <inline-formula> <tex-math notation="LaTeX">0.19~\pm ~0.1 </tex-math></inline-formula>rad. Given the average femoral arterial radius of 4-5 mm, the proposed system is demonstrated with a great potential for precise needle guidance in femoral artery insertion procedures. In addition, the findings highlight the broader potential applications of the system in the medical field. |
---|---|
AbstractList | Deep needle insertion to a target often poses a huge challenge, requiring a combination of specialized skills, assistive technology, and extensive training. One of the frequently encountered medical scenarios demanding such expertise includes the needle insertion into a femoral vessel in the groin. Conventionally, deep needle insertion is guided by ultrasound (US) imaging. However, utilizing US for needle tracking demands specialized training and skill to manipulate the probe effectively and interpret the imaging accurately. To address this challenge, this article presents an innovative technology for needle tip real-time tracking. This advancement will be instrumental in facilitating robotic-guided needle insertion toward the identified target. Specifically, our approach revolves around the creation of scattering imaging using an optical fiber-equipped needle and uses convolutional neural network (CNN)-based algorithms to enable real-time estimation of the needle tip's position and orientation during insertion procedures. The efficacy of the proposed technology was rigorously evaluated through three experiments. The first two experiments involved rubber and bacon phantoms to simulate groin anatomy. The positional errors averaging <inline-formula> <tex-math notation="LaTeX">2.3~\pm ~1.5 </tex-math></inline-formula> and <inline-formula> <tex-math notation="LaTeX">2.0~\pm ~1.2 </tex-math></inline-formula>mm, and the orientation errors averaging <inline-formula> <tex-math notation="LaTeX">0.2~\pm ~0.11 </tex-math></inline-formula> and <inline-formula> <tex-math notation="LaTeX">0.16~\pm ~0.1 </tex-math></inline-formula>rad. Furthermore, the system's capabilities were validated through experiments conducted on fresh porcine phantom mimicking more complex anatomical structures, yielding the positional accuracy results of <inline-formula> <tex-math notation="LaTeX">3.2~\pm ~3.1 </tex-math></inline-formula>mm and an orientational accuracy of <inline-formula> <tex-math notation="LaTeX">0.19~\pm ~0.1 </tex-math></inline-formula>rad. Given the average femoral arterial radius of 4-5 mm, the proposed system is demonstrated with a great potential for precise needle guidance in femoral artery insertion procedures. In addition, the findings highlight the broader potential applications of the system in the medical field. Deep needle insertion to a target often poses a huge challenge, requiring a combination of specialized skills, assistive technology, and extensive training. One of the frequently encountered medical scenarios demanding such expertise includes the needle insertion into a femoral vessel in the groin. Conventionally, deep needle insertion is guided by ultrasound (US) imaging. However, utilizing US for needle tracking demands specialized training and skill to manipulate the probe effectively and interpret the imaging accurately. To address this challenge, this article presents an innovative technology for needle tip real-time tracking. This advancement will be instrumental in facilitating robotic-guided needle insertion toward the identified target. Specifically, our approach revolves around the creation of scattering imaging using an optical fiber-equipped needle and uses convolutional neural network (CNN)-based algorithms to enable real-time estimation of the needle tip’s position and orientation during insertion procedures. The efficacy of the proposed technology was rigorously evaluated through three experiments. The first two experiments involved rubber and bacon phantoms to simulate groin anatomy. The positional errors averaging [Formula Omitted] and [Formula Omitted]mm, and the orientation errors averaging [Formula Omitted] and [Formula Omitted]rad. Furthermore, the system’s capabilities were validated through experiments conducted on fresh porcine phantom mimicking more complex anatomical structures, yielding the positional accuracy results of [Formula Omitted]mm and an orientational accuracy of [Formula Omitted]rad. Given the average femoral arterial radius of 4–5 mm, the proposed system is demonstrated with a great potential for precise needle guidance in femoral artery insertion procedures. In addition, the findings highlight the broader potential applications of the system in the medical field. |
Author | Savarimuthu, Thiusius Rajeeth Sorensen, Simon Lyck Bjaert Eriksen, Rene Lynge Cheng, Zhuoqi Olsen, Mikkel Werge |
Author_xml | – sequence: 1 givenname: Zhuoqi orcidid: 0000-0002-4267-6928 surname: Cheng fullname: Cheng, Zhuoqi email: zch@mmmi.sdu.dk organization: Maersk Mc-Kinney Møller Institute, University of Southern Denmark, Odense, Denmark – sequence: 2 givenname: Simon Lyck Bjaert orcidid: 0000-0002-5162-4652 surname: Sorensen fullname: Sorensen, Simon Lyck Bjaert organization: Maersk Mc-Kinney Møller Institute, University of Southern Denmark, Odense, Denmark – sequence: 3 givenname: Mikkel Werge orcidid: 0009-0001-3321-5548 surname: Olsen fullname: Olsen, Mikkel Werge organization: Maersk Mc-Kinney Møller Institute, University of Southern Denmark, Odense, Denmark – sequence: 4 givenname: Rene Lynge surname: Eriksen fullname: Eriksen, Rene Lynge organization: Mads Clausen Institute, University of Southern Denmark, Odense, Denmark – sequence: 5 givenname: Thiusius Rajeeth orcidid: 0000-0002-2478-8694 surname: Savarimuthu fullname: Savarimuthu, Thiusius Rajeeth organization: Maersk Mc-Kinney Møller Institute, University of Southern Denmark, Odense, Denmark |
BookMark | eNpNkE1PAjEQhhuDiYD-ABMPTTwv9pO2RySgGAIH9-Ct6bazZBF21xYO_nt3AwdPM8n7vDPJM0KDuqkBoUdKJpQS8_LxudhMGGFiwgWnxqgbNKRS6owqoQf9zkkmuPq6Q6OU9oRQo6QaIr4BCAfAedXiPDr_XdU7_OoSBNzUeNueKu8OeHV0uz5wdcCz1T26Ld0hwcN1jlG-XOTz92y9fVvNZ-vMGyqzkhruhQlOcFGCZE5OhWAMlFbKy6kyQfOCC19C4RjRvgiFCtoFwkoGFICP0fPlbBubnzOkk90351h3Hy0nRmvNuJQdRS-Uj01KEUrbxuro4q-lxPZqbK_G9mrsVU3Xebp0KgD4x09ZFxP-B9Q2X3Q |
CODEN | ISJEAZ |
Cites_doi | 10.1109/ICRA.2017.7989564 10.1109/TMI.2014.2321777 10.3390/bios11120522 10.1109/TIM.2024.3441017 10.1109/IROS.2014.6943170 10.1016/j.amjcard.2020.12.089 10.1016/j.cmpb.2021.106460 10.1002/jcu.22945 10.1117/12.2611524 10.1088/1361-665X/aa6ec2 10.1109/LRA.2019.2892380 10.1002/rcs.2272 10.1007/s11548-020-02227-7 10.1109/TMRB.2023.3269844 10.3390/s18072057 10.1111/anae.15232 10.1016/j.injury.2023.02.048 10.1016/j.cmpb.2022.106991 10.1117/12.2548874 10.1088/1361-6579/ab8cb4 10.1109/ICRA.2019.8793540 10.1109/IROS.2012.6385929 10.1201/b10951 |
ContentType | Journal Article |
Copyright | Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 2024 |
Copyright_xml | – notice: Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 2024 |
DBID | 97E RIA RIE AAYXX CITATION 7SP 7U5 8FD L7M |
DOI | 10.1109/JSEN.2024.3431997 |
DatabaseName | IEEE All-Society Periodicals Package (ASPP) 2005-present IEEE All-Society Periodicals Package (ASPP) 1998-Present IEEE Electronic Library (IEL) CrossRef Electronics & Communications Abstracts Solid State and Superconductivity Abstracts Technology Research Database Advanced Technologies Database with Aerospace |
DatabaseTitle | CrossRef Solid State and Superconductivity Abstracts Technology Research Database Advanced Technologies Database with Aerospace Electronics & Communications Abstracts |
DatabaseTitleList | Solid State and Superconductivity Abstracts |
Database_xml | – sequence: 1 dbid: RIE name: IEEE Electronic Library (IEL) url: https://proxy.k.utb.cz/login?url=https://ieeexplore.ieee.org/ sourceTypes: Publisher |
DeliveryMethod | fulltext_linktorsrc |
Discipline | Geography Engineering |
EISSN | 1558-1748 |
EndPage | 28153 |
ExternalDocumentID | 10_1109_JSEN_2024_3431997 10621990 |
Genre | orig-research |
GrantInformation_xml | – fundername: Innovation Fund Denmark grantid: 1061-00071A funderid: 10.13039/100017413 |
GroupedDBID | -~X 0R~ 29I 4.4 5GY 6IK 97E AAJGR AASAJ ABQJQ ACGFO ACGFS ACIWK AENEX AJQPL AKJIK ALMA_UNASSIGNED_HOLDINGS ATWAV BEFXN BFFAM BGNUA BKEBE BPEOZ CS3 EBS F5P HZ~ IFIPE IPLJI JAVBF LAI O9- OCL P2P RIA RIE RIG RNS TWZ AAYXX CITATION 7SP 7U5 8FD L7M M43 |
ID | FETCH-LOGICAL-c915-f193c49da434fe52a564422e7877c5679d83b34cfeba208cbdb7d8ad02f2e1ee3 |
IEDL.DBID | RIE |
ISSN | 1530-437X |
IngestDate | Mon Sep 09 19:10:48 EDT 2024 Wed Sep 04 12:36:04 EDT 2024 Wed Sep 11 06:09:17 EDT 2024 |
IsPeerReviewed | true |
IsScholarly | true |
Issue | 17 |
Language | English |
LinkModel | DirectLink |
MergedId | FETCHMERGED-LOGICAL-c915-f193c49da434fe52a564422e7877c5679d83b34cfeba208cbdb7d8ad02f2e1ee3 |
ORCID | 0000-0002-5162-4652 0000-0002-2478-8694 0000-0002-4267-6928 0009-0001-3321-5548 |
PQID | 3098882355 |
PQPubID | 75733 |
PageCount | 9 |
ParticipantIDs | ieee_primary_10621990 proquest_journals_3098882355 crossref_primary_10_1109_JSEN_2024_3431997 |
PublicationCentury | 2000 |
PublicationDate | 2024-Sept.1,-1 |
PublicationDateYYYYMMDD | 2024-09-01 |
PublicationDate_xml | – month: 09 year: 2024 text: 2024-Sept.1,-1 day: 01 |
PublicationDecade | 2020 |
PublicationPlace | New York |
PublicationPlace_xml | – name: New York |
PublicationTitle | IEEE sensors journal |
PublicationTitleAbbrev | JSEN |
PublicationYear | 2024 |
Publisher | IEEE The Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Publisher_xml | – name: IEEE – name: The Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
References | ref13 ref12 ref15 ref14 ref11 ref10 ref2 ref1 ref16 ref18 (ref17) 2023 ref24 ref23 ref26 ref25 ref22 ref21 ref8 ref7 ref9 ref4 ref3 Paszke (ref19) 2019; 32 ref6 ref5 Falcon (ref20) 2019 Cheng (ref27) |
References_xml | – ident: ref15 doi: 10.1109/ICRA.2017.7989564 – ident: ref14 doi: 10.1109/TMI.2014.2321777 – volume-title: How Deep is the Femoral Artery? year: 2023 ident: ref17 – ident: ref10 doi: 10.3390/bios11120522 – ident: ref1 doi: 10.1109/TIM.2024.3441017 – ident: ref9 doi: 10.1109/IROS.2014.6943170 – ident: ref16 doi: 10.1016/j.amjcard.2020.12.089 – ident: ref5 doi: 10.1016/j.cmpb.2021.106460 – ident: ref26 doi: 10.1002/jcu.22945 – ident: ref13 doi: 10.1117/12.2611524 – ident: ref25 doi: 10.1088/1361-665X/aa6ec2 – ident: ref11 doi: 10.1109/LRA.2019.2892380 – ident: ref8 doi: 10.1002/rcs.2272 – ident: ref3 doi: 10.1007/s11548-020-02227-7 – volume: 32 start-page: 8024 year: 2019 ident: ref19 article-title: PyTorch: An imperative style, high-performance deep learning library publication-title: Advances in Neural Information Processing Systems contributor: fullname: Paszke – ident: ref7 doi: 10.1109/TMRB.2023.3269844 – ident: ref24 doi: 10.3390/s18072057 – ident: ref2 doi: 10.1111/anae.15232 – ident: ref6 doi: 10.1016/j.injury.2023.02.048 – ident: ref22 doi: 10.1016/j.cmpb.2022.106991 – ident: ref4 doi: 10.1117/12.2548874 – ident: ref12 doi: 10.1088/1361-6579/ab8cb4 – ident: ref21 doi: 10.1109/ICRA.2019.8793540 – ident: ref23 doi: 10.1109/IROS.2012.6385929 – volume-title: Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst. ident: ref27 article-title: Portable robot for needle insertion assistance to femoral artery contributor: fullname: Cheng – volume-title: PyTorch Lightning year: 2019 ident: ref20 contributor: fullname: Falcon – ident: ref18 doi: 10.1201/b10951 |
SSID | ssj0019757 |
Score | 2.4440782 |
Snippet | Deep needle insertion to a target often poses a huge challenge, requiring a combination of specialized skills, assistive technology, and extensive training.... |
SourceID | proquest crossref ieee |
SourceType | Aggregation Database Publisher |
StartPage | 28145 |
SubjectTerms | Accuracy Algorithms Artificial neural networks Bacon Biomedical imaging Blood vessels Coils Deep learning Errors Imaging Insertion needle tip tracking (NTT) Needles Optical fiber sensors Optical fibers Optical imaging optical needle Real time scattering imaging Sensors Technology assessment Tracking Training |
Title | Needle Tip Tracking Based on Optical Imaging and AI |
URI | https://ieeexplore.ieee.org/document/10621990 https://www.proquest.com/docview/3098882355/abstract/ |
Volume | 24 |
hasFullText | 1 |
inHoldings | 1 |
isFullTextHit | |
isPrint | |
link | http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwjV3Pb9MwFLZYL2wHBqVohYJ84ISUzLUdxz52qNVWiXCgSL1Fjv2sIba0Gu0B_nqenRRVQ0ickkMSWX5--b73m5D3CFlF2Ux9xh0vMmlBZjp4ndlGK6GQALgQi5M_Ver6q1yui3VfrJ5qYQAgJZ9BHm9TLN9v3D66ylDDFSqYQQv9RDPeFWv9CRmYMrX1RA1mmRTlug9hTpm5XH6ZV2gKcpkLxEsTGzwdgVCaqvLXrzjhy-KcVIeVdWkl3_P9rsndr0dNG_976c_Js55p0ll3NF6QJ9AOydlR_8EhedqPQL_9-ZKICnHsDujq25YigLnoQqdXiHGeblr6eZt83vTmPk01orb1dHYzIqvFfPXxOusnKmTOTIssIFtz0ngrhQxQcFsgG-IcUGlLV6jSeC0aIV2AxnKmXeOb0mvrGQ8cpgDiFRm0mxYuCGVWOcGdxIuVLDAdCqOAKy8MqCD1mHw47HC97fpm1MneYKaO4qijOOpeHGMyijt29GC3WWMyOQil7lXrRy2YQaudI096_Y_X3pDT-PUuE2xCBruHPbxF6rBr3qUj8xs2nr1F |
link.rule.ids | 315,786,790,802,27957,27958,55109 |
linkProvider | IEEE |
linkToHtml | http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwjV1Lb9QwEB5V7aFwaGkpYqEPHzghZfHajhMfC2q120c4sEh7ixx7LBCQXZXdQ_vrGTtZtCpC6ik52Io148k37wF4R5CVF83IZ8KJPFMWVVYGX2a2KbXUpAC4EIuTbys9_qquZvmsL1ZPtTCImJLPcBhfUyzfz90quspIwjUJmCELfYeAnpuuXOtv0MAUqbEnyTDPlCxmfRCTFn64-nJRkTEo1FASYprY4mkDhtJclX9-xglhLvehWp-tSyz5MVwtm6F7eNS28cmHfwF7va7JzrvLcQBb2B7C840OhIew2w9B_3b_EmRFSPYT2fT7ghGEuehEZx8J5Tybt-zzInm92eRXmmvEbOvZ-eQIppcX00_jrJ-pkDkzyrNA-ppTxlslVcBc2Jz0ISGQxLZwuS6ML2UjlQvYWMFL1_im8KX1XASBI0T5CrbbeYuvgXGrnRRO0cMqHngZcqNRaC8N6qDKAbxfU7hedJ0z6mRxcFNHdtSRHXXPjgEcRYptLOyINYDjNVPqXrh-15IbstsFaUpv_rPtDHbH09ub-mZSXb-FZ_FLXV7YMWwv71Z4QorEsjlN1-cPZmvAmw |
openUrl | ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=Needle+Tip+Tracking+Based+on+Optical+Imaging+and+AI&rft.jtitle=IEEE+sensors+journal&rft.au=Cheng%2C+Zhuoqi&rft.au=Sorensen%2C+Simon+Lyck+Bjaert&rft.au=Olsen%2C+Mikkel+Werge&rft.au=Eriksen%2C+Rene+Lynge&rft.date=2024-09-01&rft.pub=IEEE&rft.issn=1530-437X&rft.volume=24&rft.issue=17&rft.spage=28145&rft.epage=28153&rft_id=info:doi/10.1109%2FJSEN.2024.3431997&rft.externalDocID=10621990 |
thumbnail_l | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=1530-437X&client=summon |
thumbnail_m | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=1530-437X&client=summon |
thumbnail_s | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=1530-437X&client=summon |