Real-time 3D Ultrasonic Needle Tracking with a Photoacoustic Beacon
Many minimally invasive procedures, such as core needle biopsy of focal liver lesions, nerve blocks, and fetal and vascular interventions, are typically performed under ultrasound guidance, which provides real-time, high-resolution visualisation of tissue anatomy. Accurate and efficient localisation of the needle tip relative to patient anatomy is essential for guiding the needle towards the procedure target, avoiding adverse events and reducing the need for repeat procedures. However, the 3D nature of the procedure and poor image contrast of the needle in heterogeneous tissue or at steep insertion angles often lead to confusion over the true location of the tip within the 2D guidance images, and existing methods to enhance needle visibility largely remain limited to 2D. Here, we present a novel interventional ultrasound system capable of 2D B-mode imaging and 3D needle tracking. The tip location is determined from the time-of-flight of ultrasound generated by a photoacoustic beacon embedded in the needle bevel and received by a sparse receiver array distributed around the imaging system's curvilinear ultrasound probe. The measured tracking accuracy was better than 2 mm for depths up to 140 mm in water, and approximately 2 mm on average in an ex vivo tissue phantom, with referenced positions derived from X-ray computed tomography. In a usability study involving 12 clinicians performing biopsy procedures in a ex vivo tissue phantom, the failure rate was reduced by 35%, from 15.8% to 10.3% after only a few minutes of training. These results demonstrate that the proposed system has strong potential to support a wide range of minimally invasive procedures by enabling clinicians to accurately target small anatomical structures, improving the efficiency and effectiveness of diagnostic sampling and therapeutic delivery or ablation, and reducing the risk of adverse events.