Registration of 3D Ultrasound Through an Air–Tissue Boundary

Abstract

In this study we evaluated a new method for registering three-dimensional ultrasound (3DUS) data to external coordinate systems. First, 3DUS was registered to the stereo endoscope of a da Vinci Surgical System by placing a registration tool against an air-tissue boundary so that the 3DUS could image ultrasound fiducials while the stereo endoscope could image camera markers on the same tool. The common points were used to solve the registration between the 3DUS and camera coordinate systems. The target registration error (TRE) when imaging through a PVC tissue phantom ranged from 3.85 1.76 mm to 1.82 1.03 mm using one to four registration tool positions. TRE when imaging through an ex-vivo liver tissue sample ranged from 2.36 1.01 mm to 1.51 0.70 mm using one to four registration tool positions. Second, using a similar method, 3DUS was registered to the kinematic coordinate system of a da Vinci Surgical System by using the da Vinci surgical manipulators to identify common points on an air-tissue boundary. TRE when imaging through a PVC tissue phantom was 0.95 0.38 mm. This registration method is simpler and potentially more accurate than methods using commercial motion tracking systems. This method may be useful in the future in augmented reality systems for laparoscopic and robotic-assisted surgery.

Comparing the accuracy of the da Vinci Xi and da Vinci Si for image guidance and automation

“…38 Results from these accuracy studies formed the foundation of many image guidance applications using the da Vinci instruments as localizers. [39][40][41][42][43][44][45][46][47] There are a number of important advancements described in this study with respect to prior work on the use of the da Vinci system for image guidance. While baseline accuracy has been characterized for the older da Vinci Classic 36 and S 37 systems, and our group has partially calibrated the Si system, 48 calibration has never previously been reported for the newer Xi system.…”

“…Thus, a ‘hybrid tracking’ approach was developed where the base frame of the active joints was measured by an optical tracking system in order to bypass the setup joints 38 . Results from these accuracy studies formed the foundation of many image guidance applications using the da Vinci instruments as localizers 39–47 …”

Prior knowledge snake segmentation of ultrasound images denoised by J‐divergence anisotropy diffusion

“…Prostate cancer is one of the most common cancers, and robot‐assisted laparoscopic radical prostatectomy is regarded as a desirable treatment to cure a prostate cancer that has not metastasized out of the gland . In the operation, however, teleoperation is carried out with a limited view provided by an endoscope, which lacks depth information and may lead to a positive surgical margin and complications such as sexual impotence . Using transrectal ultrasound in addition during the robot‐assisted operation helps with the situation .…”

“…When no external tracking systems are used, the results of initial registration depend greatly on the recognition of the registration tool in both ultrasound equipment and robotic surgical system. Some studies used a designed ‘drop‐in’ tool as the registration tool, and others used the tip of a surgical instrument . In our work, universal tissue forceps are chosen as the registration tool; they contain more information than a needle‐like instrument tip, and can reduce the complexity of registration.…”

“…1 In the operation, however, teleoperation is carried out with a limited view provided by an endoscope, which lacks depth information and may lead to a positive surgical margin and complications such as sexual impotence. 2 Using transrectal ultrasound in addition during the robot-assisted operation helps with the situation. 3 When the ultrasound probe is capable of tracking the surgical instrument, ultrasound equipment can provide a real-time image showing subsurface anatomic features.…”