Multi-rate unscented Kalman filtering for pose and curvature estimation in 3D ultrasound-guided needle steering - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Journal Articles Control Engineering Practice Year : 2018

Multi-rate unscented Kalman filtering for pose and curvature estimation in 3D ultrasound-guided needle steering

Abstract

This paper presents a new method for estimating the needle pose and curvature in the context of robotically steered needles. The needle tip trajectory is represented by a modified unicycle kinematic model. A multi-rate unscented Kalman filter is proposed for the first time in needle steering to fuse asynchronous data coming from 3D B-mode ultrasound images, robot sensors and pre-operative elastography measurements. To demonstrate it, 51 unconstrained 3D insertions have been made in various media. The instantaneous localisation error is smaller than 0.6 mm and the prediction of the final tip position is smaller than 2 mm based on the observation of the first 2 cm of 8 cm deep insertions.
Fichier principal
Vignette du fichier
MUKF_LAPOUGE_TROCCAZ_POIGNET.pdf (4.93 Mo) Télécharger le fichier
Origin : Files produced by the author(s)
Loading...

Dates and versions

lirmm-01866088 , version 1 (04-09-2018)

Identifiers

Cite

Guillaume Lapouge, Jocelyne Troccaz, Philippe Poignet. Multi-rate unscented Kalman filtering for pose and curvature estimation in 3D ultrasound-guided needle steering. Control Engineering Practice, 2018, 80, pp.116-124. ⟨10.1016/j.conengprac.2018.08.014⟩. ⟨lirmm-01866088⟩
1625 View
417 Download

Altmetric

Share

Gmail Facebook X LinkedIn More