Positioning error evaluation of GPU-based 3D ultrasound surgical navigation system for moving targets by using optical tracking system

Sato, Ichiro; Nakamura, Ryoichi

doi:10.1007/s11548-012-0789-z

Cited by 7 publications

(3 citation statements)

References 16 publications

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“…This method is used to match the spatial position of target, instrument or robot arm, and this can influence the accuracy of the whole navigation system. The tracking systems applied in most commercial navigation equipment is the active optical tracking system[ 18 - 20 ]. The active optical tracking system is superior to other methods, such as electromagnetic tracking systems, but it is expensive and inconvenient for further development[ 19 ].…”

Section: Discussionmentioning

confidence: 99%

Accuracy study of a binocular-stereo-vision-based navigation robot for minimally invasive interventional procedures

Wang¹,

Han²,

Luo³

et al. 2020

WJCC

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BACKGROUND Medical robot is a promising surgical tool, but no specific one has been designed for interventional treatment of chronic pain. We developed a computed tomography-image based navigation robot using a new registration method with binocular vision. This kind of robot is appropriate for minimal invasive interventional procedures and easy to operate. The feasibility, accuracy and stability of this new robot need to be tested. AIM To assess quantitatively the feasibility, accuracy and stability of the binocular-stereo-vision-based navigation robot for minimally invasive interventional procedures. METHODS A box model was designed for assessing the accuracy for targets at different distances. Nine (three sets) lead spheres were embedded in the model as puncture goals. The entry-to-target distances were set 50 mm (short-distance), 100 mm (medium-distance) and 150 mm (long-distance). Puncture procedure was repeated three times for each goal. The Euclidian error of each puncture was calculated and statistically analyzed. Three head phantoms were used to explore the clinical feasibility and stability. Three independent operators conducted foramen ovale placement on head phantoms (both sides) by freehand or under the guidance of robot (18 punctures with each method). The operation time, adjustment time and one-time success rate were recorded, and the two guidance methods were compared. RESULTS On the box model, the mean puncture errors of navigation robot were 1.7 ± 0.9 mm for the short-distance target, 2.4 ± 1.0 mm for the moderate target and 4.4 ± 1.4 mm for the long-distance target. On the head phantom, no obvious differences in operation time and adjustment time were found among the three performers ( P > 0.05). The median adjustment time was significantly less under the guidance of the robot than under free hand. The one-time success rate was significantly higher with the robot ( P < 0.05). There was no obvious difference in operation time between the two methods ( P > 0.05). CONCLUSION In the laboratory environment, accuracy of binocular-stereo-vision-based navigation robot is acceptable for target at 100 mm depth or less. Compared with freehand, foramen ovale placement accuracy can be improved with robot guidance.

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Section: Discussionmentioning

confidence: 99%

Accuracy study of a binocular-stereo-vision-based navigation robot for minimally invasive interventional procedures

Wang¹,

Han²,

Luo³

et al. 2020

WJCC

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show abstract

“…Ultrasound calibration estimates the xed transformation matrix between the B-scan plane position and an attached tracker (infrared-re ective markers or a tracking coil) [13][14][15]. Althogh many calibration methods have been proposed for 2D ultrasound, techniques for 3D ultrasound are limited [16,17]. In addition, previously reported techniques require a well-designed calibration phantom.…”

Section: Introductionmentioning

confidence: 99%

Automatic Doppler Volume Fusion of 3D Ultrasound using Point-based Registration of Shared Bifurcation Points

Onogi

Phan

Mochizuki

et al. 2015

ABE

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We previously proposed the use of acoustic microbubble delivery in blood vessels as a therapeutic application of microbubbles to improve the ef ciency of high-intensity focused ultrasound and the ef cacy of acoustic targeted drug therapy. Among the technical requirements for this technique is detailed visualization of the blood vessel network for navigation around a target such as a tumor. For this purpose, three-dimensional (3D) Doppler volumes, which can be acquired by matrix array imaging probes, are quite convenient because they allow the blood vessel structure to be extracted without segmentation. However, the acquirable volume is limited and incomplete because the Doppler signal depends on ow direction. To compensate for these issues, an ultrasound volume fusion technique is required. In this study, we propose a blood vessel volume fusion method by automatic registration among shared bifurcations. In addition, we propose a novel 3D ultrasound calibration method, which is needed to determine the initial transformation. Several optical markers are used as ducial markers in this calibration. To examine the feasibility of the proposed methods, calibration accuracy and volume fusion accuracy assessments were conducted using an arti cial blood vessel and in human subjects. Regarding calibration accuracy, the target registration error of the proposed method was 2.2 mm. Regarding volume fusion accuracy in the arti cial blood vessel, the mean distance between the shared bifurcations was reduced from 2.4 mm (initial transformation by tracking data) to 0.5 mm (registration of shared bifurcations). Regarding the volume fusion of blood vessels in human subjects, the distance was also reduced from 10.4 mm to 0.3 mm. The results demonstrate that the proposed methods are accurate for constructing large and complete blood vessel networks for navigation of microbubble delivery. Moreover, the methods may also be useful for extracting intraoperative blood vessel network to support minimally invasive surgery or therapy.

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“…In addition to the clinical need, this work is also motivated by the limitations in existing surgical navigation technologies. Existing developmental work in surgical navigation for fetal surgery relies on external tracking systems for spatial localization . This typically involves the attachment of a bulky sensor to surgical tools and the complicated registration of multiple imaging systems and sensors.…”

Section: Introductionmentioning

confidence: 99%

Image mapping of untracked free-hand endoscopic views to an ultrasound image-constructed 3D placenta model

Yang

Wang

Kobayashi

et al. 2014

Int J Med Robotics Comput Assist Surg

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Positioning error evaluation of GPU-based 3D ultrasound surgical navigation system for moving targets by using optical tracking system

Cited by 7 publications

References 16 publications

Accuracy study of a binocular-stereo-vision-based navigation robot for minimally invasive interventional procedures

Accuracy study of a binocular-stereo-vision-based navigation robot for minimally invasive interventional procedures

Automatic Doppler Volume Fusion of 3D Ultrasound using Point-based Registration of Shared Bifurcation Points

Image mapping of untracked free-hand endoscopic views to an ultrasound image-constructed 3D placenta model

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