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International Journal of Computer Assisted Radiology and Surgery
Erschienen in: International Journal of Computer Assisted Radiology and Surgery 12/2015

01.12.2015 | Original Article

Robust ultrasound probe tracking: initial clinical experiences during robot-assisted partial nephrectomy

verfasst von: Philip Pratt, Alexander Jaeger, Archie Hughes-Hallett, Erik Mayer, Justin Vale, Ara Darzi, Terry Peters, Guang-Zhong Yang

Erschienen in: International Journal of Computer Assisted Radiology and Surgery | Ausgabe 12/2015

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Abstract

Purpose

In order to assist in the identification of renal vasculature and tumour boundaries in robot-assisted partial nephrectomy, robust ultrasound probe calibration and tracking methods are introduced. Contemporaneous image guidance during these crucial stages of the procedure should ultimately lead to improved safety and quality of outcome for the patient, through reduced positive margin rates, segmental clamping, shorter ischaemic times and nephron-sparing resection.

Methods

Small KeyDot markers with circular dot patterns are attached to a miniature pickup ultrasound probe. Generic probe calibration is superseded by a more robust scheme based on a sequence of physical transducer measurements. Motion prediction combined with a reduced region-of-interest in the endoscopic video feed facilitates real-time tracking and registration performance at full HD resolutions.

Results

Quantitative analysis confirms that circular dot patterns result in an improved translational and rotational working envelope, in comparison with the previous chessboard pattern implementation. Furthermore, increased robustness is observed with respect to prevailing illumination levels and out-of-focus images due to relatively small endoscopic depths of field.

Conclusion

Circular dot patterns should be employed in this context as they result in improved performance and robustness. This facilitates clinical usage and interpretation of the combined video and ultrasound overlay. The efficacy of the overall system is demonstrated in the first human clinical case.
Vorheriger Artikel Robot guidance of an ultrasound probe toward a 3D region of interest detected through X-ray mammography
Nächster Artikel Robust surface tracking combining features, intensity and illumination compensation

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Metadaten
Titel
Robust ultrasound probe tracking: initial clinical experiences during robot-assisted partial nephrectomy
verfasst von
Philip Pratt
Alexander Jaeger
Archie Hughes-Hallett
Erik Mayer
Justin Vale
Ara Darzi
Terry Peters
Guang-Zhong Yang
Publikationsdatum
01.12.2015
Verlag
Springer Berlin Heidelberg
Erschienen in
International Journal of Computer Assisted Radiology and Surgery / Ausgabe 12/2015
Print ISSN: 1861-6410
Elektronische ISSN: 1861-6429
DOI
https://doi.org/10.1007/s11548-015-1279-x

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