A Method for Ultrasound Servo Tracking of Puncture Needle

Computer-aided surgical navigation technology helps and guides doctors to complete the operation smoothly, which simulates the whole surgical environment with computer technology, and then visualizes the whole operation link in three dimensions. At present, common image-guided surgical techniques such as computed tomography (CT) and X-ray imaging (X-ray) will cause radiation damage to the human body during the imaging process. To address this, we propose a novel Extended Kalman filter-based model that tracks the puncture needle-point using an ultrasound probe. To address the limitations of Kalman filtering methods based on position and velocity, our method of Kalman filtering uses the position and relative velocity of the puncture needle-point instead, and the ultrasonic probe is controlled by a Proportional Integral (PI) controller in X-axis direction and Proportional Derivative (PD) controller in the Y-axis direction. The motion of the ultrasonic probe can be servo-controlled by whether the image information of the puncture needle-point can be detected by the ultrasonic image so that the ultrasonic probe can track the puncture needle-point in real time. The experiment results show that this method has better tracking performance.