Automatic and Robust Freehand Ultrasound Calibration Using a Tracked Pointer Automatic and Robust Freehand Ultrasound Calibration Using a Tracked Pointer

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著者

    • 欒 寛 LUAN Kuan
    • Graduate School of Engineering, The University of Tokyo|College of Automation, Harbin Engineering University Graduate School of Engineering, The University of Tokyo
    • 廖 洪恩 LIAO Hongen
    • Graduate School of Engineering, The University of Tokyo Graduate School of Engineering, The University of Tokyo
    • 大屋 貴志 [他] OHYA Takashi
    • Graduate School of Engineering, The University of Tokyo|Department of Oral and Maxillofacial Surgery, Yokohama City University Graduate School of Medicine Graduate School of Engineering, The University of Tokyo

抄録

Freehand three-dimensional ultrasound system allows intra-operative imaging of pathologic tissue for image-guided surgical procedures. Accurate registration of ultrasound image for surgical navigation requires calibration that is time-consuming and tedious. We present a novel automatic and robust calibration method without a phantom. In the proposed method, a needle equipped with an electromagnetic tracking sensor is moved in the vicinity of an ultrasound imaging plane taken by a fixed ultrasound probe also equipped with an EM tracking sensor. The ultrasound images, tracker’s and needle tip’s physical coordinates are recorded simultaneously. For each ultrasound image, the needle tip is recognized and the image coordinates are identified automatically. A point registration between the needle tip image and physical coordinates is performed to estimate the calibration matrix. RANSAC is applied to minimize the registration error. Experiments are performed to verify the accuracy of the new calibration method. Results show that the needle tip can be accurately recognized in ultrasound images and the average fiducial registration error is 1.2 mm and hence applicable to the calibration for freehand ultrasound.

Freehand three-dimensional ultrasound system allows intra-operative imaging of pathologic tissue for image-guided surgical procedures. Accurate registration of ultrasound image for surgical navigation requires calibration that is time-consuming and tedious. We present a novel automatic and robust calibration method without a phantom. In the proposed method, a needle equipped with an electromagnetic tracking sensor is moved in the vicinity of an ultrasound imaging plane taken by a fixed ultrasound probe also equipped with an EM tracking sensor. The ultrasound images, tracker’s and needle tip’s physical coordinates are recorded simultaneously. For each ultrasound image, the needle tip is recognized and the image coordinates are identified automatically. A point registration between the needle tip image and physical coordinates is performed to estimate the calibration matrix. RANSAC is applied to minimize the registration error. Experiments are performed to verify the accuracy of the new calibration method. Results show that the needle tip can be accurately recognized in ultrasound images and the average fiducial registration error is 1.2 mm and hence applicable to the calibration for freehand ultrasound.

収録刊行物

  • Journal of Japan Society of Computer Aided Surgery : J.JSCAS

    Journal of Japan Society of Computer Aided Surgery : J.JSCAS 13(4), 437-443, 2011-12-31

    一般社団法人 日本コンピュータ外科学会

参考文献:  21件中 1-21件 を表示

被引用文献:  2件中 1-2件 を表示

各種コード

  • NII論文ID(NAID)
    10030199624
  • NII書誌ID(NCID)
    AA11908088
  • 本文言語コード
    ENG
  • 資料種別
    ART
  • ISSN
    13449486
  • NDL 記事登録ID
    023679333
  • NDL 請求記号
    Z74-B824
  • データ提供元
    CJP書誌  CJP引用  NDL  J-STAGE 
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