TY - GEN
T1 - Surgical fiducial segmentation and tracking for pose estimation based on ultrasound B-mode images
AU - Chen, Lei
AU - Kuo, Nathanael
AU - Aalamifar, Fereshteh
AU - Narrow, David
AU - Coon, Devin
AU - Prince, Jerry
AU - Boctor, Emad M.
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/10/13
Y1 - 2016/10/13
N2 - Doppler ultrasound is a non-invasive diagnostic tool for the quantitative measurement of blood flow. However, given that it provides velocity data that is dependent on the location and angle of measurement, repeat measurements to detect problems over time may require an expert to return to the same location. We therefore developed an image-guidance system based on ultrasound B-mode images that enables an inexperienced user to position the ultrasound probe at the same site repeatedly in order to acquire a comparable time series of Doppler readings. The system utilizes a bioresorbable fiducial and complementing software composed of the fiducial detection, key points tracking, probe pose estimation, and graphical user interface (GUI) modules. The fiducial is an echogenic marker that is implanted at the surgical site and can be detected and tracked during ultrasound B-mode screening. The key points on the marker can next be used to determine the pose of the ultrasound probe with respect to the marker. The 3D representation of the probe with its position and orientation are then displayed in the GUI for the user guidance. The fiducial detection has been tested on the data sets collected from three animal studies. The pose estimation algorithm was validated by five data sets collected by a UR5 robot. We tested the system on a plastisol phantom and showed that it can detect and track the fiducial marker while displaying the probe pose in real-time.
AB - Doppler ultrasound is a non-invasive diagnostic tool for the quantitative measurement of blood flow. However, given that it provides velocity data that is dependent on the location and angle of measurement, repeat measurements to detect problems over time may require an expert to return to the same location. We therefore developed an image-guidance system based on ultrasound B-mode images that enables an inexperienced user to position the ultrasound probe at the same site repeatedly in order to acquire a comparable time series of Doppler readings. The system utilizes a bioresorbable fiducial and complementing software composed of the fiducial detection, key points tracking, probe pose estimation, and graphical user interface (GUI) modules. The fiducial is an echogenic marker that is implanted at the surgical site and can be detected and tracked during ultrasound B-mode screening. The key points on the marker can next be used to determine the pose of the ultrasound probe with respect to the marker. The 3D representation of the probe with its position and orientation are then displayed in the GUI for the user guidance. The fiducial detection has been tested on the data sets collected from three animal studies. The pose estimation algorithm was validated by five data sets collected by a UR5 robot. We tested the system on a plastisol phantom and showed that it can detect and track the fiducial marker while displaying the probe pose in real-time.
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U2 - 10.1109/EMBC.2016.7590931
DO - 10.1109/EMBC.2016.7590931
M3 - Conference contribution
C2 - 28268550
AN - SCOPUS:85009090855
T3 - Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
SP - 1244
EP - 1247
BT - 2016 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2016
Y2 - 16 August 2016 through 20 August 2016
ER -