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

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2 Author(s)
Neshat, H.R.S. ; Dept. of Electr.&Comput. Eng., Univ. of Western Ontario, London, ON ; Patel, R.V.

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.

Published in:

Biomedical Robotics and Biomechatronics, 2008. BioRob 2008. 2nd IEEE RAS & EMBS International Conference on

Date of Conference:

19-22 Oct. 2008