ArticleInternational journal of computer assisted radiology and surgery2016
Dual-robot ultrasound-guided needle placement: closing the planning-imaging-action loop.
Article in International journal of computer assisted radiology and surgery, 2016. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 15 papers.
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Who cites it
15 citing papers in PubMed.
- AURA-CVC: Autonomous Ultrasound-guided Robotic Assistance for Central Venous Catheterization.International journal of computer assisted radiology and surgery · 2026Article
- Cooperative integrated surgical robots for high-performance targeted therapies.Innovation (Cambridge (Mass.)) · 2026Review
- A Review and Perspective of Techniques for Autonomous Robotic Ultrasound Acquisitions.Sensors (Basel, Switzerland) · 2026Review
- Simple Frame-based Approach for MR Imaging-guided Abdominal Biopsy: Preliminary Evaluation in a Phantom Model.Magnetic resonance in medical sciences : MRMS : an official journal of Japan Society of Magnetic Resonance in Medicine · 2026Article
- A review of image guidance and localization methods for liver puncture robots.Journal of robotic surgery · 2025Review
- Towards autonomous robotic THz-based in vivo skin sensing: the PicoBot.Scientific reports · 2025Article
- Respiration-Induced Organ Motion Compensation: A Review.Annals of biomedical engineering · 2025Review
- Robotic Ultrasound Scanning End-Effector with Adjustable Constant Contact Force.Cyborg and bionic systems (Washington, D.C.) · 2025Article
- Review of robotic systems for thoracoabdominal puncture interventional surgery.APL bioengineering · 2024Review
- Clinical application of a 5G-based telerobotic ultrasound system for thyroid examination on a rural island: a prospective study.Endocrine · 2022Article
- Automatic ultrasound scanning robotic system with optical waveguide-based force measurement.International journal of computer assisted radiology and surgery · 2021Article
- Ultrasound-guided needle insertion robotic system for percutaneous puncture.International journal of computer assisted radiology and surgery · 2021Article
- Design and Integration of a Parallel, Soft Robotic End-Effector for Extracorporeal Ultrasound.IEEE transactions on bio-medical engineering · 2020Article
- Design of an end-effector for robot-assisted ultrasound-guided breast biopsies.International journal of computer assisted radiology and surgery · 2020Article
- On the reproducibility of expert-operated and robotic ultrasound acquisitions.International journal of computer assisted radiology and surgery · 2017Article
Corrections and comments
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Authors and funding
9 authors.
Funding
No grant is acknowledged in the PubMed record.
Abstract
purposePrecise needle placement is an important task during several medical procedures. Ultrasound imaging is often used to guide the needle toward the target region in soft tissue. This task remains challenging due to the user's dependence on image quality, limited field of view, moving target, and moving needle. In this paper, we present a novel dual-robot framework for robotic needle insertions under robotic ultrasound guidance.
methodWe integrated force-controlled ultrasound image acquisition, registration of preoperative and intraoperative images, vision-based robot control, and target localization, in combination with a novel needle tracking algorithm. The framework allows robotic needle insertion to target a preoperatively defined region of interest while enabling real-time visualization and adaptive trajectory planning to provide safe and quick interactions. We assessed the framework by considering both static and moving targets embedded in water and tissue-mimicking gelatin.
resultsThe presented dual-robot tracking algorithms allow for accurate needle placement, namely to target the region of interest with an error around 1 mm.
conclusionTo the best of our knowledge, we show the first use of two independent robots, one for imaging, the other for needle insertion, that are simultaneously controlled using image processing algorithms. Experimental results show the feasibility and demonstrate the accuracy and robustness of the process.
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Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.