3D femur reconstruction using a robotized ultrasound probe

Abstract

Three-dimensional reconstruction of images is a fundamental procedure in medical imaging because it allows to build virtual models of anatomical units of the human body, useful in several areas, such as in surgical navigation. This paper presents a non freehand Ultrasound acquisition system for human femur reconstruction where the probe displacement and position are accurately controlled by an anthropomorphic arm robot. The aim of this system is to acquire a sequence of 2D parallel cross-sections evenly spaced along the displacement direction in order to perform an accurate 3D reconstruction of the femur to be used in the scope of computer-assisted orthopedic surgery. Here, the system is described as well as the image processing and calibration procedures implemented. Results with real data are presented to illustrate the operation of the system.

Design of automatic transabdominal ultrasound imaging system

“…Offline 3D reconstruction systems are often used in ultrasound examinations and can be optimized by the usage of robotic systems moving the ultrasound probe [24]. Moreover, it is reported that a non-freehand ultrasonic acquisition system for human femur reconstruction was developed [25]. In this work we use 3D reconstruction to compare free-hand data acquisition with data collected using the hereproposed system.…”

Robot ontologies for sensor- and Image-guided surgery

“…Image-Guided Surgery (IGS) means the accurate correlation and mapping of the operative field to a pre-operative image or intra-operative (e.g., ultrasound [5], fluoroscopy) data set of the patient via sensory information (optical, mechanical or electromagnetic tracking). IGS provides better equipment positioning accuracy or guidance of mechatronic systems, and has primarily been used in neurosurgery, pediatrics, orthopaedics and Ear, Nose and Throat (ENT) surgery-domains that have been more exposed to novel technology [6].…”

“…The ontological model obtained, i.e., its formal description, is of major interest to setup a service robot, e.g., a robot manipulator, that will perform the surgery in a co-worker scenario with the surgeon, delivering the expected increased accuracy and precision. This work is developed under the HIPROB (http://www.echord.info/wikis/website/hiprob) [5] and ECHORD projects (http://www.echord.info/wikis/website/home).…”

“…It is possible to merge or extend the ontology, e.g., a particular property from the orthopaedic ontology, applied to the HR surgery using ultrasound navigation [5], is that the ultrasound probe US probe (a sub-class of US imaging) isAttachedTo the EndEffector and IsUsedIn the IntraOperativePhase. Computer tomography imaging CT imaging) isUsedIn the PreOperativePhase.…”

“…The robot allows a precise drilling, by constraining surgeons' involuntary movements. In this work, the femur IsRepresentedBy a PointCloud that enables the registration from the intra and pre-operative obtained bone models [5].…”