通过振动能量检测恢复超声引导下穿刺针的对齐，无需依赖图像可见性。
Vibration-Based Energy Metric for Restoring Needle Alignment in Autonomous Robotic Ultrasound
- 用机械振动产生可测能量信号，替代依赖图像的对齐方法。
- 实测平移误差0.41±0.27 mm，旋转误差0.51±0.19度。
- 适合在针体完全不可见时仍需精准定位的机器人穿刺场景。
精确的穿刺针对齐对机器人超声引导下的经皮穿刺手术至关重要。然而，斑点噪声、类针伪影和低图像分辨率等固有挑战使针体检测在可视性降低或消失时变得困难。本文提出一种在超声成像平面与穿刺平面错位时恢复针体对齐的方法。不同于依赖图像中针体可视性的现有方法，本方法通过机械系统周期性振动针体，利用更鲁棒的振动能量特征。具体地，提出一种振动基能量度量，即使针体完全偏离成像平面仍有效。基于该度量，设计控制策略以响应成像平面与穿刺平面间的平移与旋转错位。在双臂机器人超声引导穿刺系统上，使用离体猪组织样本进行实验，结果表明平移误差为0.41±0.27 mm，旋转误差为0.51±0.19度。
原文摘要 · Abstract (English)
Precise needle alignment is essential for percutaneous needle insertion in robotic ultrasound-guided procedures. However, inherent challenges such as speckle noise, needle-like artifacts, and low image resolution make robust needle detection difficult, particularly when visibility is reduced or lost. In this paper, we propose a method to restore needle alignment when the ultrasound imaging plane and the needle insertion plane are misaligned. Unlike many existing approaches that rely heavily on needle visibility in ultrasound images, our method uses a more robust feature by periodically vibrating the needle using a mechanical system. Specifically, we propose a vibration-based energy metric that remains effective even when the needle is fully out of plane. Using this metric, we develop a control strategy to reposition the ultrasound probe in response to misalignments between the imaging plane and the needle insertion plane in both translation and rotation. Experiments conducted on ex-vivo porcine tissue samples using a dual-arm robotic ultrasound-guided needle insertion system demonstrate the effectiveness of the proposed approach. The experimental results show the translational error of 0.41$\pm$0.27 mm and the rotational error of 0.51$\pm$0.19 degrees.
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