Visual needle tip tracking in 2D US guided robotic interventions

•Method to track biopsy needle and target tissue in ultrasound images is proposed.•Method can be used to track multiple objects for autonomous robotic biopsies.•Position feedback is possible to acquire regardless of the low-resolution imaging.•Tuning for each image sequence is required for the methods in the literature.•Even if the image dynamics change, it can be used without retuning the parameters.