Dual-Robotic Ultrasound System for In Vivo Prostate Tomography

Kevin M. Gilboy, Yixuan Wu, Bradford J. Wood, Emad Boctor, Russell H. Taylor

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Ultrasound computed tomography (USCT) offers quantitative anatomical tissue characterization for cancer detection. While most research and commercial development has focused on submerging target anatomy in a transducer-lined cylindrical water tank, this is not practical for imaging deep anatomy and an alternative approach using aligned abdominal and endoluminal ultrasound probes is required. This work outlines and validates a clinical workflow and real-time motion framework for a novel dual-robotic approach specific to in vivo prostate imaging: one arm wielding a linear abdominal probe, the other wielding a linear transrectal ultrasound (TRUS) probe. After calibration, the robotic system works to keep the abdominal probe collinear with the physician-rotated TRUS probe using a convex contour tracking scheme, while also enforcing its gentle contact with the patient’s pubic region to capture the ultrasound slices needed for limited-angle tomographic reconstruction. The repeatable and accurate robotic system presents feasibility for prostate USCT and future malignancy diagnosis and staging in vivo.

Original languageEnglish (US)
Title of host publicationMedical Ultrasound, and Preterm, Perinatal and Paediatric Image Analysis - 1st International Workshop, ASMUS 2020, and 5th International Workshop, PIPPI 2020, Held in Conjunction with MICCAI 2020, Proceedings
EditorsYipeng Hu, Roxane Licandro, J. Alison Noble, Jana Hutter, Andrew Melbourne, Stephen Aylward, Esra Abaci Turk, Jordina Torrents Barrena, Jordina Torrents Barrena
PublisherSpringer Science and Business Media Deutschland GmbH
Pages161-170
Number of pages10
ISBN (Print)9783030603335
DOIs
StatePublished - 2020
Event1st International Workshop on Advances in Simplifying Medical UltraSound, ASMUS 2020, and the 5th International Workshop on Perinatal, Preterm and Paediatric Image Analysis, PIPPI 2020, held in conjunction with the 23rd International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2020 - Lima, Peru
Duration: Oct 4 2020Oct 8 2020

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume12437 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference1st International Workshop on Advances in Simplifying Medical UltraSound, ASMUS 2020, and the 5th International Workshop on Perinatal, Preterm and Paediatric Image Analysis, PIPPI 2020, held in conjunction with the 23rd International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2020
CountryPeru
CityLima
Period10/4/2010/8/20

Keywords

  • Prostate imaging
  • Robotic ultrasound
  • Ultrasound tomography

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

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