Surgical fiducial segmentation and tracking for pose estimation based on ultrasound B-mode images

Lei Chen, Nathanael Kuo, Fereshteh Aalamifar, David Narrow, Devin O'Brien-Coon, Jerry Ladd Prince, Emad Boctor

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

Abstract

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.

Original languageEnglish (US)
Title of host publication2016 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1244-1247
Number of pages4
Volume2016-October
ISBN (Electronic)9781457702204
DOIs
StatePublished - Oct 13 2016
Event38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2016 - Orlando, United States
Duration: Aug 16 2016Aug 20 2016

Other

Other38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2016
CountryUnited States
CityOrlando
Period8/16/168/20/16

ASJC Scopus subject areas

  • Signal Processing
  • Biomedical Engineering
  • Computer Vision and Pattern Recognition
  • Health Informatics

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    Chen, L., Kuo, N., Aalamifar, F., Narrow, D., O'Brien-Coon, D., Prince, J. L., & Boctor, E. (2016). Surgical fiducial segmentation and tracking for pose estimation based on ultrasound B-mode images. In 2016 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2016 (Vol. 2016-October, pp. 1244-1247). [7590931] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/EMBC.2016.7590931