Visual servoing for a US‐guided therapeutic HIFU system by coagulated lesion tracking: a phantom study

Abstract

This research shows that a HIFU-induced CL provides a very good landmark for target motion tracking. By using the CL tracking method, target motion compensation can be realized in the US-guided robotic HIFU system.

Surface‐based registration between CT and US for image‐guided percutaneous renal access – A feasibility study

“…20 The proposed method showed high accuracy and robustness, being tested in different applications. [21][22][23] Overall, the previous works demonstrated that surface-based registration achieves good results. However, most of them acquired 2D US images from arbitrary and sparse longitudinal and transverse views, using different strategies to maintain continuous and feasible registration, as respiratory gating, a simultaneous acquisition using two US probes, and robot motion compensation, which are not always accurate and practical to perform within the operating room.…”

“…used two orthogonal 2D US probes to create a biplane US imaging of the kidney and, then, estimate the pose of a preoperative 3D model . The proposed method showed high accuracy and robustness, being tested in different applications . Overall, the previous works demonstrated that surface‐based registration achieves good results.…”

Visual servoing in medical robotics: a survey. Part II: tomographic imaging modalities - techniques and applications

“…Visual servoing is applied to minimize the distance between the focal point of the HIFU and the 3D position of the coagulated lesion while the organ is moving due to respiration. An RMS error of approximately 2 mm was achieved in phantom studies (35). This technique is especially useful for cases such as renal cell carcinoma, where the tumour boundaries are difficult to segment and there is significant physiological motion (e.g.…”

“…It applies a non-linear stochastic technique to update a dynamic model of the object motion in real time. Seo et al (35) used this technique for tracking a coagulated lesion created by HIFU in order to compensate for respiratory motion in the kidney. The condensation algorithm has also been used (66) for robust tracking of tools in laparoscopic surgery.…”

“…equivalent under special conditions. The Hough transform has been used (26)(27)(28)(35)(36)(37) to detect needles in 2D US images used for visual servoing.…”