Real-time tissue tracking with B-mode ultrasound using speckle and visual servoing

TitleReal-time tissue tracking with B-mode ultrasound using speckle and visual servoing
Publication TypeJournal Article
Year of Publication2007
AuthorsKrupa, A., Fichtinger G., & Hager G. D.
JournalTenth International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI)
NumberPt 2
KeywordsAlgorithms, Artificial Intelligence, Computer Systems, Computer-Assisted, Equipment Design, Equipment Failure Analysis, Image Enhancement, Image Interpretation, Imaging, instrumentation/methods, Interventional, methods, Pilot Projects, Reproducibility of Results, Robotics, Sensitivity, Specificity, Surgery, Three-Dimensional, Ultrasonography, User-Computer Interface

We present a method for real-time tracking of moving soft tissue with B-mode ultrasound (US) The method makes use of the speckle information contained in the US images to estimate the in-plane, out-of-plane motion of a fixed target relative to the ultrasound scan plane The motion information is then used as closed-loop feedback to a robot which corrects for the target motion The concept is demonstrated for translation motions in an experimental setup consisting of an ultrasound speckle phantom, a robot for simulating tissue motion, and a robot that performs motion stabilization from US images This concept shows promise for US-guided procedures that require real-time motion tracking, compensation

PerkWeb Citation KeyKrupa2007