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Accurate placement of the needle tip inside tissue is challenging, especially when the target moves and anatomical obstacles must be avoided. We develop a needle steering system capable of autonomously and accurately guiding a steerable needle using two-dimensional (2D) ultrasound images. The needle is steered to a moving target while avoiding moving obstacles in a three-dimensional (3D) non-static environment. Using a 2D ultrasound imaging device, our system accurately tracks the needle tip motion in 3D space in order to estimate the tip pose. The needle tip pose is used by a rapidly exploring random tree-based motion planner to compute a feasible needle path to the target. The motion planner is sufficiently fast such that replanning can be performed repeatedly in a closed-loop manner. This enables the system to correct for perturbations in needle motion, and movement in obstacle and target locations. Our needle steering experiments in a soft-tissue phantom achieves maximum targeting errors of 0.86 \u00b1 0.35 mm (without obstacles) and 2.16 \u00b1 0.88 mm (with a moving obstacle).<\/jats:p>","DOI":"10.1177\/0278364914526627","type":"journal-article","created":{"date-parts":[[2014,6,12]],"date-time":"2014-06-12T01:46:57Z","timestamp":1402537617000},"page":"1361-1374","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":117,"title":["Needle path planning and steering in a three-dimensional non-static environment using two-dimensional ultrasound images"],"prefix":"10.1177","volume":"33","author":[{"given":"Gustaaf J.","family":"Vrooijink","sequence":"first","affiliation":[{"name":"MIRA\u2014Institute for Biomedical Technology and Technical Medicine (Robotics and Mechatronics), University of Twente, The Netherlands"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Momen","family":"Abayazid","sequence":"additional","affiliation":[{"name":"MIRA\u2014Institute for Biomedical Technology and Technical Medicine (Robotics and Mechatronics), University of Twente, The Netherlands"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Sachin","family":"Patil","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering and Computer Sciences, University of California at Berkeley, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ron","family":"Alterovitz","sequence":"additional","affiliation":[{"name":"Department of Computer Science, University of North Carolina at Chapel Hill, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Sarthak","family":"Misra","sequence":"additional","affiliation":[{"name":"MIRA\u2014Institute for Biomedical Technology and Technical Medicine (Robotics and Mechatronics), University of Twente, The Netherlands"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2014,6,11]]},"reference":[{"key":"bibr1-0278364914526627","doi-asserted-by":"publisher","DOI":"10.1109\/BioRob.2012.6290841"},{"key":"bibr2-0278364914526627","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2013.6631418"},{"key":"bibr3-0278364914526627","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2012.2230991"},{"key":"bibr4-0278364914526627","doi-asserted-by":"publisher","DOI":"10.1016\/j.medengphy.2006.07.003"},{"key":"bibr5-0278364914526627","doi-asserted-by":"publisher","DOI":"10.1097\/01.CCM.0000260624.99430.22"},{"key":"bibr6-0278364914526627","doi-asserted-by":"publisher","DOI":"10.1177\/0278364908097661"},{"key":"bibr7-0278364914526627","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-010-9455-2"},{"key":"bibr8-0278364914526627","doi-asserted-by":"publisher","DOI":"10.1002\/0471221279"},{"key":"bibr9-0278364914526627","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2013.06.004"},{"key":"bibr10-0278364914526627","doi-asserted-by":"publisher","DOI":"10.1002\/jmri.21067"},{"key":"bibr11-0278364914526627","unstructured":"Bogdanich W (2009) At V.A. 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