Anzeige
Erschienen in:
03.10.2023 | Original Article
Rib region detection for scanning path planning for fully automated robotic abdominal ultrasonography
Erschienen in: International Journal of Computer Assisted Radiology and Surgery | Ausgabe 3/2024
EinloggenAktivieren Sie unsere intelligente Suche, um passende Fachinhalte oder Patente zu finden.
Wählen Sie Textabschnitte aus um mit Künstlicher Intelligenz passenden Patente zu finden. powered by
Markieren Sie Textabschnitte, um KI-gestützt weitere passende Inhalte zu finden. powered by
Abstract
Purpose
Scanning path planning is an essential technology for fully automated ultrasound (US) robotics. During biliary scanning, the subcostal boundary is critical body surface landmarks for scanning path planning but are often invisible, depending on the individual. This study developed a method of estimating the rib region for scanning path planning toward fully automated robotic US systems.
Methods
We proposed a method for determining the rib region using RGB-D images and respiratory variation. We hypothesized that detecting the rib region would be possible based on changes in body surface position due to breathing. We generated a depth difference image by finding the difference between the depth image taken at the resting inspiratory position and the depth image taken at the maximum inspiratory position, which clearly shows the rib region. The boundary position of the subcostal was then determined by applying training using the YOLOv5 object detection model to this depth difference image.
Results
In the experiments with healthy subjects, the proposed method of rib detection using the depth difference image marked an intersection over union (IoU) of 0.951 and average confidence of 0.77. The average error between the ground truth and predicted positions was 16.5 mm in 3D space. The results were superior to rib detection using only the RGB image.
Conclusion
The proposed depth difference imaging method, which measures respiratory variation, was able to accurately estimate the rib region without contact and physician intervention. It will be useful for planning the scan path during the biliary imaging.