DESIGN AND ANALYSIS OF A NOVEL EXPERIMENT PLATFORM FOR 3D NEEDLE INSERTION BASED ON ORTHOGONALLY ARRANGED DUAL CAMERA

3D needle insertion is important both in theoretical research and clinic practice. In literature, most needle insertion experiments use 2D experiment platforms. A few studies use 3D experiment platforms based on ultrasound or traditional stereo camera. The ultrasound has low resolution and traditional stereo camera is difficult to reconstruct objects without textures, which is not suitable for markers reconstruction. Hence, it is needed to design a 3D needle insertion experiment platform with high resolution and 3D reconstruction ability. In this paper, we design a 3D needle insertion platform based on the orthogonalarranged dual camera. Error analysis and accuracy verification are carried out as well. First, experiment platform framework is designed and essential modules are introduced. Second, the error analyses based on Frechet distance are carried out to quantify the error led by the bevel facing angle and insertion angle. Third, to verify the 3D reconstruction accuracy, the 2D distance sensitivity experiments and 3D reconstruction experiments are carried out for the dual camera system. The accuracy of 3D reconstruction in the region of interest has been verified. To optimize the 3D needle insertion platform, a needle holder to ensure concentricity is applied. Besides, pre-insertion process and orthogonal-arranged double chessboard calibration are introduced into setup procedures. Finally, a 3D needle insertion experiment platform is designed and validated through needle path planning algorithm verification. Results show that the proposed experiment platform can steer the needle accurately and reconstruct the needle path and markers in acceptable accuracy.