Data underlying the publication: Axially rigid steerable needle with compliant active tip control

Raw data underlying the publication: Axially rigid steerable needle with compliant active tip control.<br>Steering performance of a new developed steerable needle prototype is assessed in US-guided experiments with tissue simulants and <em style="color:rgb(32, 32, 32);">ex-vivo</em> bovine tissue. In Experiment 1 the influence of the initial insertion depth on needle steering and the endpoint precision are assessed inside a homogeneous medium (N=33). US images are recorded at 20 Hz and the set of images is segmented using constant intensity thresholding to create a point cloud containing the silhouette of the instrument. The last point on the reconstructed 3D needle shape determines the achieved lateral needle steering. In Experiment 2 steering and real-time needle guidance via US imaging evaluates endpoint accuracy of the needle in inhomogeneous tissue simulants. In Experiment 3 needle steering towards targets is executed in <em style="color:rgb(32, 32, 32);">ex-vivo</em> bovine tissue with real-time US needle tracking. This experiment evaluates adaptive needle path control during insertions and final endpoint accuracy.<br>The data includes data of the silhouette of the instrument (csv) and videos of the needle insertion (avi) for experiment 1 and 3, photos of the endpoints of the inserted needle (jpg) for experiment 2, and data analysis for the X, Y, and Z-coordinates (xlsx).

本论文配套的原始数据集：带有柔顺式主动针尖控制的轴向刚性可操控穿刺针。
本研究针对一款新研发的可操控穿刺针原型，通过组织模拟体与离体(ex-vivo)牛组织开展超声(ultrasound)引导实验，以评估其操控性能。
实验1：在均质介质中（样本量N=33），评估穿刺针初始插入深度对操控效果与末端定位精密度的影响。实验以20 Hz帧率采集超声图像，通过恒定强度阈值分割法对图像集进行处理，生成包含穿刺针轮廓的点云数据；重建所得三维穿刺针轮廓的末端点，即为侧向操控的实际完成位置。
实验2：在非均质组织模拟体中，通过超声成像实现穿刺针操控与实时引导，以评估穿刺针的末端定位准确度。
实验3：在离体(ex-vivo)牛组织中，结合超声实时穿刺针追踪技术，开展靶向穿刺操控实验，评估穿刺过程中的自适应路径控制效果与最终末端定位准确度。
本数据集包含如下内容：实验1与实验3的穿刺针轮廓数据（csv格式）、穿刺插入视频（avi格式）；实验2的穿刺末端位置照片（jpg格式）；以及X、Y、Z三轴坐标数据分析文件（xlsx格式）。