A freehand ultrasound framework for spine assessment in 3D: a preliminary study

Garcia-Cano, Edgar; Cosı́o, Fernando Arámbula; Torres, Fabián; Fanti, Zian; Bellefleur, Christian; Joncas, Julie; Duong, Luc

doi:10.1109/embc44109.2020.9176689

Cited by 4 publications

(4 citation statements)

References 17 publications

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“…The proposed system automatically computes a dense scanning path and executes the scan while ensuring a safe contact force. Compared to previous free-hand scanning [25], the duration of the automatic scan over a similar area was reduced from 12 min to 5 min. The average contact force was 3.63 ± 0.30 N and 2.73 ± 0.46 N for the 3D-printed phantom and the CIRS phantom, respectively.…”

Section: Discussionmentioning

confidence: 98%

Robot-assisted ultrasound reconstruction for spine surgery: from bench-top to pre-clinical study

Davoodi

Cai

et al. 2023

Int J CARS

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Robot-assisted ultrasound (rUS) systems have already been used to provide non-radiative three-dimensional (3D) reconstructions that form the basis for guiding spine surgical procedures. Despite promising studies on this technology, there are few studies that offer insight into the robustness and generality Robot-assisted US reconstruction for Spine Surgery of the approach by verifying performance in various testing scenarios. Therefore, this study aims at providing an assessment of a rUS system, with technical details from experiments starting at the bench-top to the pre-clinical study. Methods: A semi-automatic control strategy was proposed to ensure continuous and smooth robotic scanning. Next, a U-Net based segmentation approach was developed to automatically process the anatomic features and derive a high quality 3D US reconstruction. Experiments were conducted on synthetic phantoms and human cadavers to validate the proposed approach. Results: Average deviations of scanning force were found of 2.84 ± 0.45 N on synthetic phantoms and of 5.64 ± 1.10 N on human cadavers. The anatomic features could be reliably reconstructed at mean accuracy of 1.28 ± 0.87 mm for the synthetic phantoms and of 1.74 ± 0.89 mm for the human cadavers. Conclusion:The results and experiments demonstrate the feasibility of the proposed system in a pre-clinical setting. This work is complementary to previous work, encouraging further exploration of the potential of this technology in in-vivo studies.

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Section: Discussionmentioning

confidence: 98%

Robot-assisted ultrasound reconstruction for spine surgery: from bench-top to pre-clinical study

Davoodi

Cai

et al. 2023

Int J CARS

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“…Then, the scanning was automatically conducted with the proposed hybrid control. Compared with previous free-hand scanning [34], the duration of automatic scanning over a similar area is shortened from 12 min to within 5 min. With hybrid control, the proposed method keeps the scanning force within a safe range to ensure good surface contact with the patient's skin.…”

Section: Discussionmentioning

confidence: 99%

Robot-assisted Ultrasound Reconstruction for Minimally Invasive Spine Surgery: from Bench-top to Pre-clinical Study

Li¹

2022

Preprint

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<p>Objective: Robot-assisted ultrasound (US) system could potentially provide a non-radiative three-dimensional (3D) reconstruction for minimally invasive spine surgery. Despite promising studies on this technology, few researchers provide a comprehensive analysis with technical details. The performance is only showcased in one specific experimental setting without offering insight into robustness and generality of the approach by e.g. verifying performance in various testing scenarios. This limitation impedes the translation of this technology toward clinical practice. Therefore, this study provides a comprehensive assessment of the performance of robot-assisted US system. This study provides all essential technical details from experiments starting at the bench-top up to pre-clinical study. Methods: A hybrid control strategy was proposed to ensure continuous and smooth scanning, while a U-Net based US reconstruction framework was utilized to process the anatomic features automatically. Experiments were conducted on two synthetic spine phantoms and two ex-vivo cadavers. Results: The average deviation of scanning force was 2.84 ± 0.45 N on the synthetic phantom and 5.64 ± 1.10 N on the ex-vivo cadaver. The reconstruction yielded a mean 3D representation error of 1.28 ± 0.87 mm and 1.74 ± 0.89 mm for the synthetic and cadaveric experiments, respectively. Conclusion: The experiments indicated the proposed robot-assisted US system is feasible for relatively independent experiment settings, varying from laboratory experiments to pre-clinical studies. Significance: The developed system offers an improved understanding of the potential for this technology and paves the way for deploying the robotic US system towards in-vivo clinical study.</p>

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“…A variety of calibration methods have been proposed in the literature [2,3,4]. The reader is referred to [5] for a comprehensive review.…”

Section: Introductionmentioning

confidence: 99%

“…The reader is referred to [5] for a comprehensive review. Most of them operate by scanning a 3D phantom with known geometrical properties that may consist of points, wires or planes [2,3]. Among them, one popular option is to use the N-wire phantom where metal wires are designed to form "N" shapes [6].…”

Section: Introductionmentioning

confidence: 99%

A Novel Augmented Reality Ultrasound Framework Using an RGB-D Camera and a 3D-printed Marker

Zhou¹,

Lelu²,

Labbé³

et al. 2022

Preprint

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Purpose Ability to locate and track ultrasound images in the 3D operating space is of great benefit for multiple clinical applications. This is often accomplished by tracking the probe using a precise but expensive optical or electromagnetic tracking system. Our goal is to develop a simple and low cost augmented reality echography framework using a standard RGB-D Camera. Methods A prototype system consisting of an Occipital Structure Core RGB-D camera, a specifically-designed 3D marker, and a fast point cloud registration algorithm FaVoR was developed and evaluated on an Ultrasonix ultrasound system. The probe was calibrated on a 3D-printed N-wire phantom using the software PLUS toolkit. The proposed calibration method is simplified, requiring no additional markers or sensors attached to the phantom. Also, a visualization software based on OpenGL was developed for the augmented reality application. ResultsThe calibrated probe was used to augment a real-world video in a simulated needle insertion scenario. The ultrasound images were rendered on the video, and visually-coherent results were observed. We evaluated the end-to-end accuracy of our AR US framework on localizing a cube of 5 cm size. From our two experiments, the target pose localization error ranges from 5.6 to 5.9 mm and from −3.9 • to 4.2 • . ConclusionWe believe that with the potential democratization of RGB-D cameras integrated in mobile devices and AR glasses in the future, our prototype solution may facilitate the use of 3D freehand ultrasound in clinical routine. Future work should include a more rigorous and thorough evaluation, by comparing the calibration accuracy with those obtained by commercial tracking solutions in both simulated and real medical scenarios. KeywordsUltrasound • Augmented reality • Probe calibration • RGB-D camera • 3D printing • Optical tracking system * This work benefited from the European Unions Horizon 2020 research and innovation program under grant agreement n856950 (5G-TOURS project). Also, it benefited from State aid managed by the National Research Agency (FR) under the future investment program bearing the reference ANR-17-RHUS-0005 (FollowKnee project).

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A freehand ultrasound framework for spine assessment in 3D: a preliminary study

Cited by 4 publications

References 17 publications

Robot-assisted ultrasound reconstruction for spine surgery: from bench-top to pre-clinical study

Robot-assisted ultrasound reconstruction for spine surgery: from bench-top to pre-clinical study

Robot-assisted Ultrasound Reconstruction for Minimally Invasive Spine Surgery: from Bench-top to Pre-clinical Study

A Novel Augmented Reality Ultrasound Framework Using an RGB-D Camera and a 3D-printed Marker

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