Research of automatic needle locating based on stereo visual servoing

Image guided needle operations (biopsy, targeted interventional treatment, etc) are minimally invasive medical treatments which have many prospects in clinical applications. The accuracy of needle insertion can significantly impact the validity of diagnostic procedures or the success rate of therapeutic treatments. For this, a needle driven system was designed to assist needle operations. Based on all the intrinsic and extrinsic parameters of the robot and cameras, a posture measurement method and an eye-to-hand based stereo visual servoing control scheme were put forward. Finally, simulation results demonstrated the effectiveness of the implemented method.