Freehand Three-Dimensional Ultrasound Image-Guided Needle Targeting for Percutaneous Abdominal Puncture

IF 2.1 3区医学 Q2 SURGERY

International Journal of Medical Robotics and Computer Assisted Surgery Pub Date : 2025-11-13 DOI:10.1002/rcs.70120

Tiexiang Wen, Qian Ni, Jia Gu

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引用次数: 0

Abstract

Background

Percutaneous abdominal interventions require precise and real-time guidance for safe needle placement. Conventional CT or fluoroscopy provides accurate localisation but involves radiation, while ultrasound (US) offers a radiation-free alternative but suffers from limited 3D visualisation.

Methods

We developed a guidance system integrating a needle-guide mechanism with a tracked US probe to achieve real-time radiation-free targeting. The approach reconstructs freehand 3D US volumes at 25 frames per second, enabling path planning and augmenting the needle trajectory onto live B-scan images. Validation was conducted using a mockup, two phantoms, a pig model, and a human volunteer.

Results

The system completed 3D US acquisition within 10 s and achieved high accuracy, with mean calibration errors of 0.62 mm and 0.22°. Needle tracking yielded angular and positional errors of 0.84 ± 0.40° and 0.76 ± 0.38 mm.

Conclusions

This method enables accurate, rapid, and radiation-free guidance, demonstrating strong potential for clinical application.

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徒手三维超声图像引导下经皮腹腔穿刺针的定位。

背景：经皮腹部介入治疗需要精确和实时的安全置针指导。传统的CT或透视可以提供准确的定位，但涉及辐射，而超声（US）提供了一种无辐射的替代方案，但3D可视化有限。方法：我们开发了一种结合针导向机构和履带式美国探针的制导系统，以实现实时无辐射瞄准。该方法以每秒25帧的速度重建手绘3D美国体，实现路径规划，并将针轨迹增强到实时b扫描图像上。验证是用一个模型、两个幽灵、一个猪模型和一个人类志愿者进行的。结果：系统在10 s内完成三维US采集，精度较高，平均校正误差为0.62 mm和0.22°。针迹的角度和位置误差分别为0.84±0.40°和0.76±0.38 mm。结论：该方法能够实现准确、快速、无辐射的引导，具有很强的临床应用潜力。

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来源期刊

International Journal of Medical Robotics and Computer Assisted Surgery 医学-外科

CiteScore

4.50

自引率

12.00%

发文量

131

审稿时长

6-12 weeks

期刊介绍： The International Journal of Medical Robotics and Computer Assisted Surgery provides a cross-disciplinary platform for presenting the latest developments in robotics and computer assisted technologies for medical applications. The journal publishes cutting-edge papers and expert reviews, complemented by commentaries, correspondence and conference highlights that stimulate discussion and exchange of ideas. Areas of interest include robotic surgery aids and systems, operative planning tools, medical imaging and visualisation, simulation and navigation, virtual reality, intuitive command and control systems, haptics and sensor technologies. In addition to research and surgical planning studies, the journal welcomes papers detailing clinical trials and applications of computer-assisted workflows and robotic systems in neurosurgery, urology, paediatric, orthopaedic, craniofacial, cardiovascular, thoraco-abdominal, musculoskeletal and visceral surgery. Articles providing critical analysis of clinical trials, assessment of the benefits and risks of the application of these technologies, commenting on ease of use, or addressing surgical education and training issues are also encouraged. The journal aims to foster a community that encompasses medical practitioners, researchers, and engineers and computer scientists developing robotic systems and computational tools in academic and commercial environments, with the intention of promoting and developing these exciting areas of medical technology.