{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,14]],"date-time":"2026-03-14T18:02:19Z","timestamp":1773511339916,"version":"3.50.1"},"reference-count":60,"publisher":"MDPI AG","issue":"23","license":[{"start":{"date-parts":[[2022,11,22]],"date-time":"2022-11-22T00:00:00Z","timestamp":1669075200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/100004440","name":"Wellcome Trust","doi-asserted-by":"publisher","award":["203148\/Z\/16\/Z"],"award-info":[{"award-number":["203148\/Z\/16\/Z"]}],"id":[{"id":"10.13039\/100004440","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100004440","name":"Wellcome Trust","doi-asserted-by":"publisher","award":["WT101957"],"award-info":[{"award-number":["WT101957"]}],"id":[{"id":"10.13039\/100004440","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100004440","name":"Wellcome Trust","doi-asserted-by":"publisher","award":["203145Z\/16\/Z"],"award-info":[{"award-number":["203145Z\/16\/Z"]}],"id":[{"id":"10.13039\/100004440","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100004440","name":"Wellcome Trust","doi-asserted-by":"publisher","award":["NS\/A000027\/1"],"award-info":[{"award-number":["NS\/A000027\/1"]}],"id":[{"id":"10.13039\/100004440","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100004440","name":"Wellcome Trust","doi-asserted-by":"publisher","award":["NS\/A000050\/1"],"award-info":[{"award-number":["NS\/A000050\/1"]}],"id":[{"id":"10.13039\/100004440","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100004440","name":"Wellcome Trust","doi-asserted-by":"publisher","award":["NS\/A000049\/1"],"award-info":[{"award-number":["NS\/A000049\/1"]}],"id":[{"id":"10.13039\/100004440","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100004440","name":"Wellcome Trust","doi-asserted-by":"publisher","award":["74119"],"award-info":[{"award-number":["74119"]}],"id":[{"id":"10.13039\/100004440","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100000266","name":"Engineering and Physical Science Research Council (EPSRC)","doi-asserted-by":"publisher","award":["203148\/Z\/16\/Z"],"award-info":[{"award-number":["203148\/Z\/16\/Z"]}],"id":[{"id":"10.13039\/501100000266","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100000266","name":"Engineering and Physical Science Research Council (EPSRC)","doi-asserted-by":"publisher","award":["WT101957"],"award-info":[{"award-number":["WT101957"]}],"id":[{"id":"10.13039\/501100000266","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100000266","name":"Engineering and Physical Science Research Council (EPSRC)","doi-asserted-by":"publisher","award":["203145Z\/16\/Z"],"award-info":[{"award-number":["203145Z\/16\/Z"]}],"id":[{"id":"10.13039\/501100000266","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100000266","name":"Engineering and Physical Science Research Council (EPSRC)","doi-asserted-by":"publisher","award":["NS\/A000027\/1"],"award-info":[{"award-number":["NS\/A000027\/1"]}],"id":[{"id":"10.13039\/501100000266","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100000266","name":"Engineering and Physical Science Research Council (EPSRC)","doi-asserted-by":"publisher","award":["NS\/A000050\/1"],"award-info":[{"award-number":["NS\/A000050\/1"]}],"id":[{"id":"10.13039\/501100000266","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100000266","name":"Engineering and Physical Science Research Council (EPSRC)","doi-asserted-by":"publisher","award":["NS\/A000049\/1"],"award-info":[{"award-number":["NS\/A000049\/1"]}],"id":[{"id":"10.13039\/501100000266","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100000266","name":"Engineering and Physical Science Research Council (EPSRC)","doi-asserted-by":"publisher","award":["74119"],"award-info":[{"award-number":["74119"]}],"id":[{"id":"10.13039\/501100000266","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100000781","name":"European Research Council","doi-asserted-by":"publisher","award":["203148\/Z\/16\/Z"],"award-info":[{"award-number":["203148\/Z\/16\/Z"]}],"id":[{"id":"10.13039\/501100000781","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100000781","name":"European Research Council","doi-asserted-by":"publisher","award":["WT101957"],"award-info":[{"award-number":["WT101957"]}],"id":[{"id":"10.13039\/501100000781","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100000781","name":"European Research Council","doi-asserted-by":"publisher","award":["203145Z\/16\/Z"],"award-info":[{"award-number":["203145Z\/16\/Z"]}],"id":[{"id":"10.13039\/501100000781","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100000781","name":"European Research Council","doi-asserted-by":"publisher","award":["NS\/A000027\/1"],"award-info":[{"award-number":["NS\/A000027\/1"]}],"id":[{"id":"10.13039\/501100000781","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100000781","name":"European Research Council","doi-asserted-by":"publisher","award":["NS\/A000050\/1"],"award-info":[{"award-number":["NS\/A000050\/1"]}],"id":[{"id":"10.13039\/501100000781","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100000781","name":"European Research Council","doi-asserted-by":"publisher","award":["NS\/A000049\/1"],"award-info":[{"award-number":["NS\/A000049\/1"]}],"id":[{"id":"10.13039\/501100000781","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100000781","name":"European Research Council","doi-asserted-by":"publisher","award":["74119"],"award-info":[{"award-number":["74119"]}],"id":[{"id":"10.13039\/501100000781","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Ultrasound is an essential tool for guidance of many minimally-invasive surgical and interventional procedures, where accurate placement of the interventional device is critical to avoid adverse events. Needle insertion procedures for anaesthesia, fetal medicine and tumour biopsy are commonly ultrasound-guided, and misplacement of the needle may lead to complications such as nerve damage, organ injury or pregnancy loss. Clear visibility of the needle tip is therefore critical, but visibility is often precluded by tissue heterogeneities or specular reflections from the needle shaft. This paper presents the in vitro and ex vivo accuracy of a new, real-time, ultrasound needle tip tracking system for guidance of fetal interventions. A fibre-optic, Fabry-P\u00e9rot interferometer hydrophone is integrated into an intraoperative needle and used to localise the needle tip within a handheld ultrasound field. While previous, related work has been based on research ultrasound systems with bespoke transmission sequences, the new system\u2014developed under the ISO 13485 Medical Devices quality standard\u2014operates as an adjunct to a commercial ultrasound imaging system and therefore provides the image quality expected in the clinic, superimposing a cross-hair onto the ultrasound image at the needle tip position. Tracking accuracy was determined by translating the needle tip to 356 known positions in the ultrasound field of view in a tank of water, and by comparison to manual labelling of the the position of the needle in B-mode US images during an insertion into an ex vivo phantom. In water, the mean distance between tracked and true positions was 0.7 \u00b1 0.4 mm with a mean repeatability of 0.3 \u00b1 0.2 mm. In the tissue phantom, the mean distance between tracked and labelled positions was 1.1 \u00b1 0.7 mm. Tracking performance was found to be independent of needle angle. The study demonstrates the performance and clinical compatibility of ultrasound needle tracking, an essential step towards a first-in-human study.<\/jats:p>","DOI":"10.3390\/s22239035","type":"journal-article","created":{"date-parts":[[2022,11,22]],"date-time":"2022-11-22T08:29:58Z","timestamp":1669105798000},"page":"9035","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":12,"title":["Intraoperative Needle Tip Tracking with an Integrated Fibre-Optic Ultrasound Sensor"],"prefix":"10.3390","volume":"22","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-6200-9201","authenticated-orcid":false,"given":"Christian","family":"Baker","sequence":"first","affiliation":[{"name":"School of Biomedical Engineering and Imaging Sciences, King\u2019s College London, 4th Floor, Lambeth Wing, St Thomas\u2019 Hospital, London SE1 7EH, UK"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8225-7517","authenticated-orcid":false,"given":"Miguel","family":"Xochicale","sequence":"additional","affiliation":[{"name":"School of Biomedical Engineering and Imaging Sciences, King\u2019s College London, 4th Floor, Lambeth Wing, St Thomas\u2019 Hospital, London SE1 7EH, UK"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5984-4748","authenticated-orcid":false,"given":"Fang-Yu","family":"Lin","sequence":"additional","affiliation":[{"name":"School of Biomedical Engineering and Imaging Sciences, King\u2019s College London, 4th Floor, Lambeth Wing, St Thomas\u2019 Hospital, London SE1 7EH, UK"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2289-3669","authenticated-orcid":false,"given":"Sunish","family":"Mathews","sequence":"additional","affiliation":[{"name":"Department of Medical Physics and Biomedical Engineering, University College London, Gower Street, London WC1E 6BT, UK"},{"name":"Wellcome\/EPSRC Centre for Interventional and Surgical Sciences, University College London, London W1W 7TY, UK"}]},{"given":"Francois","family":"Joubert","sequence":"additional","affiliation":[{"name":"School of Biomedical Engineering and Imaging Sciences, King\u2019s College London, 4th Floor, Lambeth Wing, St Thomas\u2019 Hospital, London SE1 7EH, UK"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3009-4178","authenticated-orcid":false,"given":"Dzhoshkun I.","family":"Shakir","sequence":"additional","affiliation":[{"name":"School of Biomedical Engineering and Imaging Sciences, King\u2019s College London, 4th Floor, Lambeth Wing, St Thomas\u2019 Hospital, London SE1 7EH, UK"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6527-6767","authenticated-orcid":false,"given":"Richard","family":"Miles","sequence":"additional","affiliation":[{"name":"School of Biomedical Engineering and Imaging Sciences, King\u2019s College London, 4th Floor, Lambeth Wing, St Thomas\u2019 Hospital, London SE1 7EH, UK"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8440-5942","authenticated-orcid":false,"given":"Charles A.","family":"Mosse","sequence":"additional","affiliation":[{"name":"Department of Medical Physics and Biomedical Engineering, University College London, Gower Street, London WC1E 6BT, UK"},{"name":"Wellcome\/EPSRC Centre for Interventional and Surgical Sciences, University College London, London W1W 7TY, UK"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9008-0344","authenticated-orcid":false,"given":"Tianrui","family":"Zhao","sequence":"additional","affiliation":[{"name":"School of Biomedical Engineering and Imaging Sciences, King\u2019s College London, 4th Floor, Lambeth Wing, St Thomas\u2019 Hospital, London SE1 7EH, UK"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2528-4818","authenticated-orcid":false,"given":"Weidong","family":"Liang","sequence":"additional","affiliation":[{"name":"School of Biomedical Engineering and Imaging Sciences, King\u2019s College London, 4th Floor, Lambeth Wing, St Thomas\u2019 Hospital, London SE1 7EH, UK"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7388-1414","authenticated-orcid":false,"given":"Yada","family":"Kunpalin","sequence":"additional","affiliation":[{"name":"Wellcome\/EPSRC Centre for Interventional and Surgical Sciences, University College London, London W1W 7TY, UK"},{"name":"Elizabeth Garrett Anderson Institute for Women\u2019s Health, University College London, 74 Huntley Street, London WC1E 6AU, UK"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9494-9724","authenticated-orcid":false,"given":"Brian","family":"Dromey","sequence":"additional","affiliation":[{"name":"Wellcome\/EPSRC Centre for Interventional and Surgical Sciences, University College London, London W1W 7TY, UK"},{"name":"Elizabeth Garrett Anderson Institute for Women\u2019s Health, University College London, 74 Huntley Street, London WC1E 6AU, UK"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8637-6815","authenticated-orcid":false,"given":"Talisa","family":"Mistry","sequence":"additional","affiliation":[{"name":"NIHR Great Ormond Street BRC and Institute of Child Health, University College London, 30 Guilford Street, London WC1N 1EH, UK"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5348-9063","authenticated-orcid":false,"given":"Neil J.","family":"Sebire","sequence":"additional","affiliation":[{"name":"NIHR Great Ormond Street BRC and Institute of Child Health, University College London, 30 Guilford Street, London WC1N 1EH, UK"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3717-1367","authenticated-orcid":false,"given":"Edward","family":"Zhang","sequence":"additional","affiliation":[{"name":"Department of Medical Physics and Biomedical Engineering, University College London, Gower Street, London WC1E 6BT, UK"},{"name":"Wellcome\/EPSRC Centre for Interventional and Surgical Sciences, University College London, London W1W 7TY, UK"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5694-5340","authenticated-orcid":false,"given":"Sebastien","family":"Ourselin","sequence":"additional","affiliation":[{"name":"School of Biomedical Engineering and Imaging Sciences, King\u2019s College London, 4th Floor, Lambeth Wing, St Thomas\u2019 Hospital, London SE1 7EH, UK"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7710-2759","authenticated-orcid":false,"given":"Paul C.","family":"Beard","sequence":"additional","affiliation":[{"name":"Department of Medical Physics and Biomedical Engineering, University College London, Gower Street, London WC1E 6BT, UK"},{"name":"Wellcome\/EPSRC Centre for Interventional and Surgical Sciences, University College London, London W1W 7TY, UK"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0199-6140","authenticated-orcid":false,"given":"Anna L.","family":"David","sequence":"additional","affiliation":[{"name":"Wellcome\/EPSRC Centre for Interventional and Surgical Sciences, University College London, London W1W 7TY, UK"},{"name":"Elizabeth Garrett Anderson Institute for Women\u2019s Health, University College London, 74 Huntley Street, London WC1E 6AU, UK"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1932-1811","authenticated-orcid":false,"given":"Adrien E.","family":"Desjardins","sequence":"additional","affiliation":[{"name":"Department of Medical Physics and Biomedical Engineering, University College London, Gower Street, London WC1E 6BT, UK"},{"name":"Wellcome\/EPSRC Centre for Interventional and Surgical Sciences, University College London, London W1W 7TY, UK"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1794-0456","authenticated-orcid":false,"given":"Tom","family":"Vercauteren","sequence":"additional","affiliation":[{"name":"School of Biomedical Engineering and Imaging Sciences, King\u2019s College London, 4th Floor, Lambeth Wing, St Thomas\u2019 Hospital, London SE1 7EH, UK"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1147-6886","authenticated-orcid":false,"given":"Wenfeng","family":"Xia","sequence":"additional","affiliation":[{"name":"School of Biomedical Engineering and Imaging Sciences, King\u2019s College London, 4th Floor, Lambeth Wing, St Thomas\u2019 Hospital, London SE1 7EH, UK"}]}],"member":"1968","published-online":{"date-parts":[[2022,11,22]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"218","DOI":"10.1016\/0735-1097(88)90377-4","article-title":"The echo-transponder electrode catheter: A new method for mapping the left ventricle","volume":"12","author":"Langberg","year":"1988","journal-title":"J. Am. Coll. Cardiol."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"965","DOI":"10.1213\/01.ane.0000258740.17193.ec","article-title":"Neurological complications after regional anesthesia: Contemporary estimates of risk","volume":"104","author":"Brull","year":"2007","journal-title":"Anesth. Analg."},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"311","DOI":"10.1002\/jum.15713","article-title":"Echogenic Surface Enhancements for Improving Needle Visualization in Ultrasound","volume":"41","author":"Hovgesen","year":"2022","journal-title":"J. Ultrasound Med."},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"128","DOI":"10.1002\/uog.10152","article-title":"Pregnancy loss after chorionic villus sampling and genetic amniocentesis in twin pregnancies: A systematic review","volume":"40","author":"Agarwal","year":"2012","journal-title":"Ultrasound Obstet. Gynecol."},{"key":"ref_5","unstructured":"Public Health England (2022, September 07). Screening in Pregnancy: CVS and Amniocentesis Information for Parents, Available online: https:\/\/www.gov.uk\/government\/publications\/cvs-and-amniocentesis-diagnostic-tests-description-in-brief\/nhs-fetal-anomaly-screening-programme-chorionic-villus-sampling-cvs-and-amniocentesis-information-for-parents."},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"1553","DOI":"10.1097\/01.RVI.0000099527.29957.A6","article-title":"Changes in Ultrasonographic Echogenicity and Visibility of Needles with Changes in Angles of Insonation","volume":"14","author":"Nichols","year":"2003","journal-title":"J. Vasc. Interv. Radiol."},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"440","DOI":"10.1016\/j.rapm.2007.07.002","article-title":"Ultrasound Characteristics of Needles for Regional Anesthesia","volume":"32","author":"Maecken","year":"2007","journal-title":"Reg. Anesth. Pain Med."},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"794","DOI":"10.1093\/bja\/aet585","article-title":"Needle-related ultrasound artifacts and their importance in anaesthetic practice","volume":"112","author":"Reusz","year":"2014","journal-title":"Br. J. Anaesth."},{"key":"ref_9","first-page":"532","article-title":"Needle Visualization in Ultrasound-Guided Regional Anesthesia: Challenges and Solutions","volume":"33","author":"Chin","year":"2008","journal-title":"Reg. Anesth. Pain Med."},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"1971","DOI":"10.1118\/1.1287437","article-title":"An algorithm for automatic needle localization in ultrasound-guided breast biopsies","volume":"27","author":"Draper","year":"2000","journal-title":"Med. Phys."},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"330","DOI":"10.1016\/j.media.2006.01.002","article-title":"Methods for segmenting curved needles in ultrasound images","volume":"10","author":"Okazawa","year":"2006","journal-title":"Med. Image Anal."},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"6221","DOI":"10.1118\/1.4932214","article-title":"Needle detection in curvilinear ultrasound images based on the reflection pattern of circular ultrasound waves","volume":"42","author":"Daoud","year":"2015","journal-title":"Med. Phys."},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"1339","DOI":"10.1016\/j.ultrasmedbio.2006.05.019","article-title":"Needle tip localization using stylet vibration","volume":"32","author":"Harmat","year":"2006","journal-title":"Ultrasound Med. Biol."},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"1858","DOI":"10.1213\/01.ane.0000286814.79988.0a","article-title":"Piezoelectric vibrating needle and catheter for enhancing ultrasound-guided peripheral nerve blocks","volume":"105","author":"Klein","year":"2007","journal-title":"Anesth. Analg."},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"1355","DOI":"10.1109\/TUFFC.2008.798","article-title":"Vibrating interventional device detection using real-time 3-D color Doppler","volume":"55","author":"Fronheiser","year":"2008","journal-title":"IEEE Trans. Ultrason. Ferroelectr. Freq. Control"},{"key":"ref_16","doi-asserted-by":"crossref","unstructured":"Daoud, M.I., Shtaiyat, A., Zayadeen, A.R., and Alazrai, R. (2018). Accurate needle localization using two-dimensional power doppler and b-mode ultrasound image analyses: A feasibility study. Sensors, 18.","DOI":"10.3390\/s18103475"},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"617","DOI":"10.1016\/j.ultrasmedbio.2004.02.001","article-title":"Enhancement of needle visibility in ultrasound-guided percutaneous procedures","volume":"30","author":"Cheung","year":"2004","journal-title":"Ultrasound Med. Biol."},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"280","DOI":"10.1148\/radiology.163.1.3547495","article-title":"US-guided percutaneous biopsy: Use of a screw biopsy stylet to aid needle detection","volume":"163","author":"Reading","year":"1987","journal-title":"Radiology"},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"1319","DOI":"10.7863\/ultra.15.06022","article-title":"Modeling, production, and testing of an echogenic needle for ultrasound-guided nerve blocks","volume":"35","author":"Bigeleisen","year":"2016","journal-title":"J. Ultrasound Med."},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"998","DOI":"10.1016\/j.ultrasmedbio.2018.10.004","article-title":"A Methodical Quantification of Needle Visibility and Echogenicity in Ultrasound Images","volume":"45","year":"2019","journal-title":"Ultrasound Med. Biol."},{"key":"ref_21","doi-asserted-by":"crossref","first-page":"185","DOI":"10.1097\/AAP.0b013e31820d4349","article-title":"Echogenic technology can improve needle visibility during ultrasound-guided regional anesthesia","volume":"36","author":"Hebard","year":"2011","journal-title":"Reg. Anesth. Pain Med."},{"key":"ref_22","doi-asserted-by":"crossref","first-page":"126011","DOI":"10.1117\/1.JBO.19.12.126011","article-title":"In vivo visualization of prostate brachytherapy seeds with photoacoustic imaging","volume":"19","author":"Kuo","year":"2014","journal-title":"J. Biomed. Opt."},{"key":"ref_23","unstructured":"Rubin, J., Chen, A., Thodiyil, A.O., Naidu, R.S., Erkamp, R., Fincke, J., and Raju, B. (2021). Efficient Video-Based Deep Learning for Ultrasound Guided Needle Insertion, Medical Imaging with Deep Learning."},{"key":"ref_24","doi-asserted-by":"crossref","first-page":"701","DOI":"10.1109\/TMAG.1975.1058672","article-title":"Advanced superconducting gradiometer\/magnetometer arrays and a novel signal processing technique","volume":"11","author":"Wynn","year":"1975","journal-title":"IEEE Trans. Magn."},{"key":"ref_25","first-page":"708","article-title":"Magnetic Position and Orientatation Tracking System","volume":"5","author":"Raab","year":"1979","journal-title":"IEEE Trans. Aerosp. Electron. Syst."},{"key":"ref_26","doi-asserted-by":"crossref","first-page":"898","DOI":"10.1007\/s00270-011-0278-8","article-title":"Electromagnetic-tracked biopsy under ultrasound guidance: Preliminary results","volume":"35","author":"Hakime","year":"2012","journal-title":"Cardiovasc. Interv. Radiol."},{"key":"ref_27","doi-asserted-by":"crossref","first-page":"195","DOI":"10.2214\/ajr.158.1.1727345","article-title":"A new electronically enhanced biopsy system: Value in improving needle-tip visibility during sonographically guided interventional procedures","volume":"158","author":"Perrella","year":"1992","journal-title":"Am. J. Roentgenol."},{"key":"ref_28","doi-asserted-by":"crossref","first-page":"5983","DOI":"10.1118\/1.4931418","article-title":"In-plane ultrasonic needle tracking using a fiber-optic hydrophone","volume":"42","author":"Xia","year":"2015","journal-title":"Med. Phys."},{"key":"ref_29","first-page":"371","article-title":"Interventional Photoacoustic Imaging of the Human Placenta with Ultrasonic Tracking for Minimally Invasive Fetal Surgeries","volume":"Volume 9349","author":"Navab","year":"2015","journal-title":"Proceedings of the International Conference on Medical Image Computing and Computer-Assisted Intervention\u2014MICCAI 2015"},{"key":"ref_30","doi-asserted-by":"crossref","first-page":"4065","DOI":"10.1118\/1.4953205","article-title":"Coded excitation ultrasonic needle tracking: An in vivo study","volume":"43","author":"Xia","year":"2016","journal-title":"Med. Phys."},{"key":"ref_31","doi-asserted-by":"crossref","first-page":"1055","DOI":"10.1111\/aas.13379","article-title":"Needle tip tracking for ultrasound-guided peripheral nerve block procedures\u2014An observer blinded, randomised, controlled, crossover study on a phantom model","volume":"63","author":"Romundstad","year":"2019","journal-title":"Acta Anaesthesiol. Scand."},{"key":"ref_32","doi-asserted-by":"crossref","first-page":"082002","DOI":"10.35848\/1347-4065\/aba328","article-title":"Multi-source fiber-optic ultrasound transmitters for angle-measurement of thin medical devices","volume":"59","author":"Imai","year":"2020","journal-title":"Jpn. J. Appl. Phys."},{"key":"ref_33","doi-asserted-by":"crossref","first-page":"733","DOI":"10.1016\/S0021-9290(02)00036-2","article-title":"Interference during the use of an electromagnetic tracking system under OR conditions","volume":"35","author":"Poulin","year":"2002","journal-title":"J. Biomech."},{"key":"ref_34","first-page":"89435M","article-title":"Photoacoustic active ultrasound element for catheter tracking","volume":"Volume 8943","author":"Oraevsky","year":"2014","journal-title":"Proceedings of the Photons Plus Ultrasound: Imaging and Sensing 2014, SPIE BiOS"},{"key":"ref_35","doi-asserted-by":"crossref","first-page":"169","DOI":"10.1007\/s11548-020-02227-7","article-title":"Enhancement of needle visualization and localization in ultrasound","volume":"16","author":"Beigi","year":"2020","journal-title":"Int. J. Comput. Assist. Radiol. Surg."},{"key":"ref_36","doi-asserted-by":"crossref","first-page":"877","DOI":"10.1148\/radiology.180.3.1871312","article-title":"Use of an acoustic transponder for US visualization of biopsy needles","volume":"180","author":"Winsberg","year":"1991","journal-title":"Radiology"},{"key":"ref_37","doi-asserted-by":"crossref","unstructured":"Shi, M., Bodian, S., West, S.J., Sathasivam, S., Gordon, R.J., Collier, P., Vercauteren, T., Desjardins, A.E., Noimark, S., and Xia, W. (2022). Enhanced Photoacoustic Visualisation of Clinical Needles by Combining Interstitial and Extracorporeal Illumination of Elastomeric Nanocomposite Coatings. Sensors, 22.","DOI":"10.3390\/s22176417"},{"key":"ref_38","first-page":"353","article-title":"3D Ultrasonic Needle Tracking with a 1.5D Transducer Array for Guidance of Fetal Interventions","volume":"Volume 9900","author":"Ourselin","year":"2016","journal-title":"Proceedings of the International Conference on Medical Image Computing and Computer-Assisted Intervention\u2014MICCAI 2016"},{"key":"ref_39","doi-asserted-by":"crossref","first-page":"3674","DOI":"10.1038\/s41598-017-03886-4","article-title":"Looking beyond the imaging plane: 3D needle tracking with a linear array ultrasound probe","volume":"7","author":"Xia","year":"2017","journal-title":"Sci. Rep."},{"key":"ref_40","unstructured":"(2016). Medical Devices\u2014Quality Management Systems\u2014Requirements for Regulatory Purposes (Standard No. ISO 13485:2016)."},{"key":"ref_41","unstructured":"(2014). Voluson E10 BT15\u2014Data Sheet, GE Healthcare."},{"key":"ref_42","first-page":"78991F","article-title":"A miniature all-optical photoacoustic imaging probe","volume":"Volume 7899","author":"Oraevsky","year":"2011","journal-title":"Proceedings of the Photons Plus Ultrasound: Imaging and Sensing 2011, SPIE BiOS"},{"key":"ref_43","first-page":"108681D","article-title":"Ultrasonic needle tracking with a high-finesse Fabry-Perot fiber optic hydrophone (Conference Presentation)","volume":"Volume 10868","year":"2019","journal-title":"Proceedings of the Advanced Biomedical and Clinical Diagnostic and Surgical Guidance Systems XVII, SPIE BiOS"},{"key":"ref_44","doi-asserted-by":"crossref","first-page":"561","DOI":"10.1364\/AO.47.000561","article-title":"Backward-mode multiwavelength photoacoustic scanner using a planar Fabry-Perot polymer film ultrasound sensor for high-resolution three-dimensional imaging of biological tissues","volume":"47","author":"Zhang","year":"2008","journal-title":"Appl. Opt."},{"key":"ref_45","doi-asserted-by":"crossref","first-page":"520","DOI":"10.1016\/j.ultrasmedbio.2021.11.008","article-title":"Ultrasonic Needle Tracking with Dynamic Electronic Focusing","volume":"48","author":"Mathews","year":"2022","journal-title":"Ultrasound Med. Biol."},{"key":"ref_46","doi-asserted-by":"crossref","unstructured":"Baker, C., Xochicale, M., Joubert, F., Lin, F., Mathews, S., Shakir, D.I., Ourselin, S., David, A., Dromey, B., and Desjardins, A. (2021, January 11\u201316). Real-Time Ultrasonic Tracking of an Intraoperative Needle Tip with Integrated Fibre-Optic Hydrophone. Proceedings of the 2021 IEEE International Ultrasonics Symposium (IUS), Xi\u2019an, China.","DOI":"10.1109\/IUS52206.2021.9593381"},{"key":"ref_47","unstructured":"International Electrotechnical Commission (2018). Ultrasonics. Field Characterization. Test Methods for the Determination of Thermal and Mechanical Indices Related to Medical Diagnostic Ultrasonic Fields, IEC. IEC 62359:2011+A1:2018."},{"key":"ref_48","unstructured":"Baker, C. (2022, October 19). Spectrumdevice v0.2.0. Available online: https:\/\/github.com\/KCL-BMEIS\/spectrumdevice."},{"key":"ref_49","doi-asserted-by":"crossref","unstructured":"Preston, R.C. (1991). Output Measurements for Medical Ultrasound, Springer.","DOI":"10.1007\/978-1-4471-1883-1"},{"key":"ref_50","doi-asserted-by":"crossref","first-page":"169","DOI":"10.1002\/uog.6216","article-title":"A randomized study to assess two different techniques of aspiration while performing transabdominal chorionic villus sampling","volume":"33","author":"Battagliarin","year":"2009","journal-title":"Ultrasound Obstet. Gynecol."},{"key":"ref_51","doi-asserted-by":"crossref","first-page":"R37","DOI":"10.1088\/0031-9155\/58\/11\/R37","article-title":"Optical properties of biological tissues: A review","volume":"58","author":"Jacques","year":"2013","journal-title":"Phys. Med. Biol."},{"key":"ref_52","unstructured":"(2015). Medical Electrical Equipment\u2014Part 2-37: Particular Requirements for the Basic Safety and Essential Performance of Ultrasonic Medical Diagnostic and Monitoring Equipment (Standard No. IEC 60601-2-37:2007+AMD1:2015 CSV). Available online: https:\/\/webstore.iec.ch\/publication\/22634."},{"key":"ref_53","doi-asserted-by":"crossref","first-page":"3611","DOI":"10.1121\/1.3117437","article-title":"A Fabry\u2013P\u00e9rot fiber-optic ultrasonic hydrophone for the simultaneous measurement of temperature and acoustic pressure","volume":"125","author":"Morris","year":"2009","journal-title":"J. Acoust. Soc. Am."},{"key":"ref_54","doi-asserted-by":"crossref","first-page":"087002","DOI":"10.35848\/1347-4065\/ac0c37","article-title":"Position detection of guidewire tip emitting ultrasound by using a Kalman filter","volume":"60","author":"Takeshima","year":"2021","journal-title":"Jpn. J. Appl. Phys."},{"key":"ref_55","doi-asserted-by":"crossref","first-page":"1691","DOI":"10.1109\/TUFFC.2022.3162097","article-title":"Neural Network Kalman Filtering for 3-D Object Tracking From Linear Array Ultrasound Data","volume":"69","author":"Arjas","year":"2022","journal-title":"IEEE Trans. Ultrason. Ferroelectr. Freq. Control"},{"key":"ref_56","doi-asserted-by":"crossref","unstructured":"Maneas, E., Hauptmann, A., Alles, E.J., Xia, W., Noimark, S., David, A.L., Arridge, S., and Desjardins, A.E. (2022). Enhancement of instrumented ultrasonic tracking images using deep learning. Int. J. Comput. Assist. Radiol. Surg.","DOI":"10.1007\/s11548-022-02728-7"},{"key":"ref_57","doi-asserted-by":"crossref","first-page":"543","DOI":"10.1109\/TUFFC.2021.3126530","article-title":"Deep Learning for Instrumented Ultrasonic Tracking: From Synthetic Training Data to in vivo Application","volume":"69","author":"Maneas","year":"2022","journal-title":"IEEE Trans. Ultrason. Ferroelectr. Freq. Control"},{"key":"ref_58","doi-asserted-by":"crossref","unstructured":"Azhari, H. (2010). Basics of Biomedical Ultrasound for Engineers, John Wiley & Sons, Inc.","DOI":"10.1002\/9780470561478"},{"key":"ref_59","doi-asserted-by":"crossref","unstructured":"Deber, J., Jota, R., Forlines, C., and Wigdor, D. (2015, January 18\u201323). How Much Faster is Fast Enough?. Proceedings of the 33rd Annual ACM Conference on Human Factors in Computing Systems, Seoul, Republic of Korea.","DOI":"10.1145\/2702123.2702300"},{"key":"ref_60","unstructured":"Baker, C. (2022, October 19). Pymagewell v0.1.3. Available online: https:\/\/github.com\/KCL-BMEIS\/pymagewell."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/22\/23\/9035\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T01:24:03Z","timestamp":1760145843000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/22\/23\/9035"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,11,22]]},"references-count":60,"journal-issue":{"issue":"23","published-online":{"date-parts":[[2022,12]]}},"alternative-id":["s22239035"],"URL":"https:\/\/doi.org\/10.3390\/s22239035","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,11,22]]}}}