Remote Ultrasound Palpation for Robotic Interventions Using Absolute Elastography

Schneider, Charles L.; Baghani, Ali; Rohling, Robert; Salcudean, Septimiu E.

doi:10.1007/978-3-642-33415-3_6

Cited by 24 publications

(8 citation statements)

References 16 publications

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“…In the Brigham and Women’s Hospital (Boston, MA, USA) PLUS is used for US-based brain shift visualization during surgery (Fig. 10) and for MRI/US fusion to help diagnosis and treatment of prostate cancer ([10]), at University of British Columbia (Vancouver, BC, Canada) for research in US-guided spine interventions [9], [14], at the Children’s National Medical Center (Washington, DC, USA) for calibration of laparoscopic ultrasound probes ([13]), at the Duesseldorf University Hospital (Duesseldorf, Germany) for navigation in neck surgery ([42]) and several other groups are using or currently evaluating the toolkit (such as [12], [43], [15]).…”

Section: Resultsmentioning

confidence: 99%

“…However, most commercially available systems provide only basic features, such as real-time display of tool position, point marking, point-based registration, and volume reconstruction, reslicing, and fusion. Introduction of more advanced guidance techniques into products, such as automatic image or atlas-based registration, image-based tracking, robotic assistance, real-time motion compensation, real-time multi-modality image and data fusion ([9], [10], [11], [12], [13], [7], [14], [15]) need extensive explorative and development work.…”

Section: Introductionmentioning

confidence: 99%

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PLUS: Open-Source Toolkit for Ultrasound-Guided Intervention Systems

Lassó

Heffter

Rankin

et al. 2014

IEEE Trans. Biomed. Eng.

351

194

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A variety of advanced image analysis methods have been under development for ultrasound-guided interventions. Unfortunately, the transition from an image analysis algorithm to clinical feasibility trials as part of an intervention system requires integration of many components, such as imaging and tracking devices, data processing algorithms, and visualization software. The objective of our work is to provide a freely available open-source software platform – PLUS: Public software Library for Ultrasound – to facilitate rapid prototyping of ultrasound-guided intervention systems for translational clinical research. PLUS provides a variety of methods for interventional tool pose and ultrasound image acquisition from a wide range of tracking and imaging devices, spatial and temporal calibration, volume reconstruction, simulated image generation, and recording and live streaming of the acquired data. This paper introduces PLUS, explains its functionality and architecture, and presents typical uses and performance in ultrasound-guided intervention systems. PLUS fulfills the essential requirements for the development of ultrasound-guided intervention systems and it aspires to become a widely used translational research prototyping platform. PLUS is freely available as open source under BSD license, the code and documentation are available at http://www.plustoolkit.org.

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Section: Resultsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

PLUS: Open-Source Toolkit for Ultrasound-Guided Intervention Systems

Lassó

Heffter

Rankin

et al. 2014

IEEE Trans. Biomed. Eng.

351

194

View full text Add to dashboard Cite

show abstract

“…In this previous work, the motion of a laparoscopic ultrasound 2-D probe was controlled, and the elastograms, obtained after processing the acquired 2-D ultrasound data, were displayed to guide a minimal invasive surgery procedure. In a similar framework [7], an external mechanical excitation was applied instead of a palpation motion with the US probe. The mechanical excitator was positioned on the skin, and the laparoscopic ultrasound probe was displaced by teleoperating the da Vinci robot.…”

Section: Introductionmentioning

confidence: 99%

A robotic control framework for 3-D quantitative ultrasound elastography

Patlan-Rosales¹,

Krupa²

2017

2017 IEEE International Conference on Robotics and Automation (ICRA)

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In this paper we present a novel approach to track and explore stiff tissues within 3-D ultrasound volumes acquired by a medical 3-D ultrasound probe mounted on a six degrees of freedom robotic arm. Autonomous palpation and on-line elastography process are implemented to estimate the elastic property of the tissues (strain) in a volume of interest (VoI) indicated by the user. The compression motion, required for the elastography, is performed by controlling the force applied by the ultrasound probe to the tissues. A visual servoing control for centering a rigid tissue (target) inside the field of view (FoV) of the ultrasound probe is established to always maintain the target visible. Additionally, rotations around the contact point between the tissue and the ultrasound probe are teleoperated through a haptic device handled by the user in order to allow exploration of the target surrounding areas. Results show a stable system that can be used in the future for diagnosis of diseases or tumor location.

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“…The da Vinci surgical robot (Intuitive Surgical Inc.) was also used to obtain elastic information of a tissue of interest by controlling the motion of a laparoscopic 2-D ultrasound probe [8]. Using a similar framework, in [9] a mechanical vibrator placed on the skin of the patient was proposed instead of controlling the motion of the ultrasound probe. However, none of these works were applied to obtain the strain information of a moving tissue which is a challenging issue.…”

Section: Introductionmentioning

confidence: 99%

Strain estimation of moving tissue based on automatic motion compensation by ultrasound visual servoing

Patlan-Rosales

Krupa

2017

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Abstract-This paper presents a robot-assisted system to obtain elastic information of a moving tissue using a 2-D ultrasound probe actuated by a 6 degrees of freedom robotic arm. The proposed method combines ultrasound image-based visual servoing, force control and non-rigid motion estimation. We present how the motion estimation, while the force control and visual sevoing are enabled, is useful to compute the strain map of the tissue. Ex-vivo experiments performed on a moving abdominal phantom demonstrate the efficiency and robustness of this methodology to compute the strain information of a tissue in motion.

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Remote Ultrasound Palpation for Robotic Interventions Using Absolute Elastography

Cited by 24 publications

References 16 publications

PLUS: Open-Source Toolkit for Ultrasound-Guided Intervention Systems

PLUS: Open-Source Toolkit for Ultrasound-Guided Intervention Systems

A robotic control framework for 3-D quantitative ultrasound elastography

Strain estimation of moving tissue based on automatic motion compensation by ultrasound visual servoing

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