6-DOF probe tracking via skin mapping for freehand 3D ultrasound

Sun, Shanhui; Gilbertson, Matthew W.; Anthony, Brian W.

doi:10.1109/isbi.2013.6556591

Cited by 10 publications

(7 citation statements)

References 10 publications

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Section: Related Workmentioning

confidence: 99%

“…Sun [39] uses a probe-mounted camera to record videos of the skin surface during scanning. Using visual Simultaneous Localization and Mapping methods [39], the position and orientation of the probe are measured with respect to the patient's body, and a real-time graphical user interface (GUI) helps the sonographer place the probe at the target location. Chan [40] and Stolka [41] describe probe-mounted stereo camera systems that help clinicians to more accurately place needles during US-guided percutaneous procedures such as biopsies and tissue ablation.…”

Section: Related Workmentioning

confidence: 99%

“…During imaging, the tissue of interest may move out of the ultrasound imaging plane, either due to tissue motion (caused by respiration, for example) or due to out-of-plane hand motion, such as pivoting or lateral translation. In order to obtain repeatable images in this case, a probe-mounted magnetic-or camera-based tracking system such as [39] could be used to determine the relative orientation and position between the probe and the tissue; the system could provide visual guidance to help the sonographer achieve the desired patient/probe configuration. Alternatively, a combination of force, position, and image information could be synthesized, as in [25].…”

Section: Limitationsmentioning

confidence: 99%

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Force and Position Control System for Freehand Ultrasound

Gilbertson

Anthony

2015

IEEE Trans. Robot.

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A hand-held force-controlled ultrasound probe has been developed for medical imaging applications. The probepatient contact force can be held constant to improve image stability, swept through a range, or cycled. The mechanical portion of the device consists of a ball screw linear actuator driven by a servo motor, along with a load cell, accelerometer, and limit switches. The performance of the system was assessed in terms of the frequency response to simulated sonographer hand motion and in hand-held image feature tracking during simulated patient motion. The system was found to attenuate contact force variation by 97% at 0.1 Hz, 83% at 1 Hz, and 33% 10 Hz, a range that spans the typical human hand tremor frequency spectrum. In studies with 15 human operators, the device applied the target contact force with ten times less variation than in conventional ultrasound imaging. An ergonomic, human-in-the-loop, imaging-workflow enhancing control scheme, which combines both force-and positioncontrol, permits smooth making and breaking of probe-patient contact, and helps the operator keep the probe centered within its range of motion. By controlling ultrasound probe contact force and consequently the amount of tissue deformation, the system enhances the repeatability, usability, and diagnostic capabilities of ultrasound imaging.

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Section: Related Workmentioning

confidence: 99%

Section: Related Workmentioning

confidence: 99%

Section: Limitationsmentioning

confidence: 99%

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Force and Position Control System for Freehand Ultrasound

Gilbertson

Anthony

2015

IEEE Trans. Robot.

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“…fiducial-free) with a small camera mounted to the ultrasound probe [14][15][16] . The system comprises: (1) an optical camera kinematically coupled to an US transducer, Figure 8, (2) software that extracts unique skin features, and (3) software that localizes the transducer by tracking the skin features [14][15][16][17] .…”

Section: Skin As a Body Position Encoding Systemmentioning

confidence: 99%

“…In addition, regularities in US images and motion smoothness are considered to further improve the pose estimation. We generate a spatially accurate three-dimensional data set from a standard optically tracked two-dimensional sonogram; using this system we are able to approximately register/re-locate an US probe on patient's body at a known location and orientation as separate instances in time with respect to patient coordinates and not room coordinates [14][15][16] . The 3D data set could be used to generate multi-planar images which should be near indistinguishable from directly acquired US images 17 .…”

Section: Skin As a Body Position Encoding Systemmentioning

confidence: 99%

Enhanced ultrasound for advanced diagnostics, ultrasound tomography for volume limb imaging and prosthetic fitting

Anthony

2016

SPIE Proceedings

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Ultrasound imaging methods hold the potential to deliver low-cost, high-resolution, operator-independent and nonionizing imaging systems -such systems couple appropriate algorithms with imaging devices and techniques. The increasing demands on general practitioners motivate us to develop more usable and productive diagnostic imaging equipment. Ultrasound, specifically freehand ultrasound, is a low cost and safe medical imaging technique. It doesn't expose a patient to ionizing radiation. Its safety and versatility make it very well suited for the increasing demands on general practitioners, or for providing improved medical care in rural regions or the developing world. However it typically suffers from sonographer variability; we will discuss techniques to address user variability.We also discuss our work to combine cylindrical scanning systems with state of the art inversion algorithms to deliver ultrasound systems for imaging and quantifying limbs in 3-D in vivo. Such systems have the potential to track the progression of limb health at a low cost and without radiation exposure, as well as, improve prosthetic socket fitting. Current methods of prosthetic socket fabrication remain subjective and ineffective at creating an interface to the human body that is both comfortable and functional. Though there has been recent success using methods like magnetic resonance imaging and biomechanical modeling, a low-cost, streamlined, and quantitative process for prosthetic cup design and fabrication has not been fully demonstrated. Medical ultrasonography may inform the design process of prosthetic sockets in a more objective manner. This keynote talk presents the results of progress in this area.

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