A new robotic ultrasound system for tracking a catheter with an active piezoelectric element

Qianli Ma, Joshua D. Davis, Alexis Cheng, Younsu Kim, Gregory S. Chirikjian, Emad Boctor

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Robotic-assisted catheter insertion is becoming increasingly popular due to its potential applications including cardiac catheterization. Typically, catheters are tracked during insertion procedures to verify the location of the tip relative to anatomy or features of interest. To this end, many catheter tracking systems have been proposed in the literature. Current approaches such as visual servoing are computationally intensive and sometimes require harmful ionizing radiation (Xrays) for tip localization. Conversely, other approaches use 3D ultrasound probes which can be prohibitively expensive. In contrast, we propose an ultrasound-enabled robotic catheter tracking system that uses a 2D ultrasound probe and an active piezoelectric element to track the tip of a catheter. This approach has the potential to guide catheters from initial insertion, in a vein of the groin, to final placement at a target area inside of the heart. During the tracking process, no information from the ultrasound image is necessary; however, this information can be used to help clinicians guide the catheter or to perform diagnostic procedures. In this paper, we outline this procedure by first discussing the individual components of the system and then by describing our methodology for tracking the catheter tip. Next, we simulate the system in ROS to test its effectiveness, and finally we experimentally verify that a robotic arm equipped with a 2D ultrasound probe can track a catheter in a multi-vein phantom. Furthermore, the data collected during tracking can be used to virtually reconstruct the 3D structure of veins while tracking.

Original languageEnglish (US)
Title of host publicationIROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2321-2328
Number of pages8
Volume2016-November
ISBN (Electronic)9781509037629
DOIs
StatePublished - Nov 28 2016
Event2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 - Daejeon, Korea, Republic of
Duration: Oct 9 2016Oct 14 2016

Other

Other2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
CountryKorea, Republic of
CityDaejeon
Period10/9/1610/14/16

Fingerprint

Catheters
Robotics
Ultrasonics
Jetties
Visual servoing
Robotic arms
Ionizing radiation

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Ma, Q., Davis, J. D., Cheng, A., Kim, Y., Chirikjian, G. S., & Boctor, E. (2016). A new robotic ultrasound system for tracking a catheter with an active piezoelectric element. In IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (Vol. 2016-November, pp. 2321-2328). [7759362] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2016.7759362

A new robotic ultrasound system for tracking a catheter with an active piezoelectric element. / Ma, Qianli; Davis, Joshua D.; Cheng, Alexis; Kim, Younsu; Chirikjian, Gregory S.; Boctor, Emad.

IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems. Vol. 2016-November Institute of Electrical and Electronics Engineers Inc., 2016. p. 2321-2328 7759362.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Ma, Q, Davis, JD, Cheng, A, Kim, Y, Chirikjian, GS & Boctor, E 2016, A new robotic ultrasound system for tracking a catheter with an active piezoelectric element. in IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems. vol. 2016-November, 7759362, Institute of Electrical and Electronics Engineers Inc., pp. 2321-2328, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016, Daejeon, Korea, Republic of, 10/9/16. https://doi.org/10.1109/IROS.2016.7759362
Ma Q, Davis JD, Cheng A, Kim Y, Chirikjian GS, Boctor E. A new robotic ultrasound system for tracking a catheter with an active piezoelectric element. In IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems. Vol. 2016-November. Institute of Electrical and Electronics Engineers Inc. 2016. p. 2321-2328. 7759362 https://doi.org/10.1109/IROS.2016.7759362
Ma, Qianli ; Davis, Joshua D. ; Cheng, Alexis ; Kim, Younsu ; Chirikjian, Gregory S. ; Boctor, Emad. / A new robotic ultrasound system for tracking a catheter with an active piezoelectric element. IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems. Vol. 2016-November Institute of Electrical and Electronics Engineers Inc., 2016. pp. 2321-2328
@inproceedings{557eaf70d80d4ccba55f1320133e09df,
title = "A new robotic ultrasound system for tracking a catheter with an active piezoelectric element",
abstract = "Robotic-assisted catheter insertion is becoming increasingly popular due to its potential applications including cardiac catheterization. Typically, catheters are tracked during insertion procedures to verify the location of the tip relative to anatomy or features of interest. To this end, many catheter tracking systems have been proposed in the literature. Current approaches such as visual servoing are computationally intensive and sometimes require harmful ionizing radiation (Xrays) for tip localization. Conversely, other approaches use 3D ultrasound probes which can be prohibitively expensive. In contrast, we propose an ultrasound-enabled robotic catheter tracking system that uses a 2D ultrasound probe and an active piezoelectric element to track the tip of a catheter. This approach has the potential to guide catheters from initial insertion, in a vein of the groin, to final placement at a target area inside of the heart. During the tracking process, no information from the ultrasound image is necessary; however, this information can be used to help clinicians guide the catheter or to perform diagnostic procedures. In this paper, we outline this procedure by first discussing the individual components of the system and then by describing our methodology for tracking the catheter tip. Next, we simulate the system in ROS to test its effectiveness, and finally we experimentally verify that a robotic arm equipped with a 2D ultrasound probe can track a catheter in a multi-vein phantom. Furthermore, the data collected during tracking can be used to virtually reconstruct the 3D structure of veins while tracking.",
author = "Qianli Ma and Davis, {Joshua D.} and Alexis Cheng and Younsu Kim and Chirikjian, {Gregory S.} and Emad Boctor",
year = "2016",
month = "11",
day = "28",
doi = "10.1109/IROS.2016.7759362",
language = "English (US)",
volume = "2016-November",
pages = "2321--2328",
booktitle = "IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems",
publisher = "Institute of Electrical and Electronics Engineers Inc.",

}

TY - GEN

T1 - A new robotic ultrasound system for tracking a catheter with an active piezoelectric element

AU - Ma, Qianli

AU - Davis, Joshua D.

AU - Cheng, Alexis

AU - Kim, Younsu

AU - Chirikjian, Gregory S.

AU - Boctor, Emad

PY - 2016/11/28

Y1 - 2016/11/28

N2 - Robotic-assisted catheter insertion is becoming increasingly popular due to its potential applications including cardiac catheterization. Typically, catheters are tracked during insertion procedures to verify the location of the tip relative to anatomy or features of interest. To this end, many catheter tracking systems have been proposed in the literature. Current approaches such as visual servoing are computationally intensive and sometimes require harmful ionizing radiation (Xrays) for tip localization. Conversely, other approaches use 3D ultrasound probes which can be prohibitively expensive. In contrast, we propose an ultrasound-enabled robotic catheter tracking system that uses a 2D ultrasound probe and an active piezoelectric element to track the tip of a catheter. This approach has the potential to guide catheters from initial insertion, in a vein of the groin, to final placement at a target area inside of the heart. During the tracking process, no information from the ultrasound image is necessary; however, this information can be used to help clinicians guide the catheter or to perform diagnostic procedures. In this paper, we outline this procedure by first discussing the individual components of the system and then by describing our methodology for tracking the catheter tip. Next, we simulate the system in ROS to test its effectiveness, and finally we experimentally verify that a robotic arm equipped with a 2D ultrasound probe can track a catheter in a multi-vein phantom. Furthermore, the data collected during tracking can be used to virtually reconstruct the 3D structure of veins while tracking.

AB - Robotic-assisted catheter insertion is becoming increasingly popular due to its potential applications including cardiac catheterization. Typically, catheters are tracked during insertion procedures to verify the location of the tip relative to anatomy or features of interest. To this end, many catheter tracking systems have been proposed in the literature. Current approaches such as visual servoing are computationally intensive and sometimes require harmful ionizing radiation (Xrays) for tip localization. Conversely, other approaches use 3D ultrasound probes which can be prohibitively expensive. In contrast, we propose an ultrasound-enabled robotic catheter tracking system that uses a 2D ultrasound probe and an active piezoelectric element to track the tip of a catheter. This approach has the potential to guide catheters from initial insertion, in a vein of the groin, to final placement at a target area inside of the heart. During the tracking process, no information from the ultrasound image is necessary; however, this information can be used to help clinicians guide the catheter or to perform diagnostic procedures. In this paper, we outline this procedure by first discussing the individual components of the system and then by describing our methodology for tracking the catheter tip. Next, we simulate the system in ROS to test its effectiveness, and finally we experimentally verify that a robotic arm equipped with a 2D ultrasound probe can track a catheter in a multi-vein phantom. Furthermore, the data collected during tracking can be used to virtually reconstruct the 3D structure of veins while tracking.

UR - http://www.scopus.com/inward/record.url?scp=85006483760&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85006483760&partnerID=8YFLogxK

U2 - 10.1109/IROS.2016.7759362

DO - 10.1109/IROS.2016.7759362

M3 - Conference contribution

AN - SCOPUS:85006483760

VL - 2016-November

SP - 2321

EP - 2328

BT - IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems

PB - Institute of Electrical and Electronics Engineers Inc.

ER -