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Active localization and tracking of needle and target in robotic image-guided intervention systems

M. Cenk Çavu¸soˆglu - Personal Name
Mark Griswold - Personal Name
Mark Renfrew - Personal Name

This paper describes a framework of algorithms for the active localization and tracking of ﬂexible needles andtargetsduringimage-guidedpercutaneousinterventions. TheneedleandtargetconﬁgurationsaretrackedbyBayesian ﬁlters employing models of the needle and target motions and measurements of the current system state obtained from an intra-operative imaging system which is controlled by an entropy-minimizing active localization algorithm. Versions of the system were built using particle and unscented Kalman ﬁlters and their performance was measured using both simulations and hardware experiments with real magnetic resonance imaging data of needle insertions into gel phantoms. Performance of the localization algorithms is given in terms of accuracy of the predictions and computational efﬁciency is discussed.

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Active localization and tracking of needle and target in robotic image-guided intervention systems

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Subject(s)	Medical robotics Image-guided interventions Intra-operativeimage-guidance Needletracking Bayesian ﬁltering active sensing
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