Toward real-time 3D ultrasound registration-based visual servoing for interventional navigation

Zettinig, Oliver; Fuerst, Bernhard; Kojcev, Risto; Esposito, Marco; Salehi, Mehrdad; Wein, Wolfgang; Rackerseder, Julia; Sinibaldi, Edoardo; Frisch, B.; Navab, Nassir

doi:10.1109/icra.2016.7487226

Cited by 24 publications

(24 citation statements)

References 28 publications

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“…Yet, complete image-based 3D-to-3D volume registration for the purpose of US transducer visual servoing has, to the best of our knowledge, not been achieved apart from our preliminary results in [10]. …”

Section: Related Workmentioning

confidence: 56%

“…As a result, the presented system does not only relieve the physician from manually maneuvering the US probe while injecting the facet joint, but also provides continuous guidance regardless of target motion. This study extends our previous, preliminary work [10] as follows:…”

Section: Introductionmentioning

confidence: 81%

“…Finally, w T r is the current end-effector pose of the robot. Note that as the 3D compounding is performed in world space F w , this allows for undistorted 3D volumes even if the robot is moving during acquisition, in contrast to only ultimately placing the already compounded sweep into the world frame as in [10]. During the acquisition of the initial sweep (I 0 ), the motor of the transducer is turned off (θ = 0) so that parallel frames are acquired.…”

Section: D Ultrasound Image Acquisition and Preparationmentioning

confidence: 99%

“…The visual servoing controller is based on our previous work [10], where instead of defining and optimizing some visual error functional, a transformationT i to align two 3D ultrasound images is directly estimated using registration and then used to update the desired robot pose 1 :…”

Section: Visual Control Schemementioning

confidence: 99%

“…The normalized needle guide direction can then be defined as [10]. The required correction to orient skew − → s i and − → l i in a parallel fashion is a rotation…”

Section: Visual Control Schemementioning

confidence: 99%

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3D ultrasound registration-based visual servoing for neurosurgical navigation

et al. 2017

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Purpose We present a fully image-based visual servoing framework for neurosurgical navigation and needle guidance. The proposed servo-control scheme allows for compensation of target anatomy movements, maintaining high navigational accuracy over time, and automatic needle guide alignment for accurate manual insertions. Method Our system comprises a motorized 3D ultrasound (US) transducer mounted on a robotic arm and equipped with a needle guide. It continuously registers US sweeps in real time with a pre-interventional plan based on CT or MR images and annotations. While a visual control law maintains anatomy visibility and alignment of the needle guide, a force controller is employed for acoustic coupling and tissue pressure. We validate the servoing capabilities of our method on a geometric gel phantom and real human anatomy, and the needle targeting accuracy using CT images on a lumbar spine gel phantom under neurosurgery conditions. Results Despite the varying resolution of the acquired Oliver Zettinig and Benjamin Frisch have contributed equally to this work. Yu-Mi Ryang and Nassir Navab have contributed equally to this work.B Oliver Zettinig 3D sweeps, we achieved direction-independent positioning errors of 0.35±0.19 mm and 0.61 • ±0.45 • , respectively. Our method is capable of compensating movements of around 25 mm/s and works reliably on human anatomy with errors of 1.45 ± 0.78 mm. In all four manual insertions by an expert surgeon, a needle could be successfully inserted into the facet joint, with an estimated targeting accuracy of 1.33±0.33 mm, superior to the gold standard. Conclusion The experiments demonstrated the feasibility of robotic ultrasound-based navigation and needle guidance for neurosurgical applications such as lumbar spine injections.

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Section: Related Workmentioning

confidence: 56%

Section: Introductionmentioning

confidence: 81%

Section: D Ultrasound Image Acquisition and Preparationmentioning

confidence: 99%

Section: Visual Control Schemementioning

confidence: 99%

“…The normalized needle guide direction can then be defined as [10]. The required correction to orient skew − → s i and − → l i in a parallel fashion is a rotation…”

Section: Visual Control Schemementioning

confidence: 99%

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3D ultrasound registration-based visual servoing for neurosurgical navigation

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The Vision of Digital Surgery

Fuerst¹,

Fer

Herrmann³

et al. 2020

Digital Surgery

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Roboterbasierte Ultraschallsteuerung

et al. 2020

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Roboterbasierte Ultraschallsteuerung Pilotstudie zur Roboter-assistierten Ultraschall-gesteuerten peripheren endovaskulären Intervention am Phantomdas RoGUS-PAD-Projekt Einleitung "Nichts auf der Welt ist so kraftvoll wie eine Idee, deren Zeit gekommen ist" (Zitat: Victor Hugo). Unter Berücksichtigung des technischen Fortschritts sind automatisierte Assistenzsysteme in der endovaskulären Chirurgie heutzutage vorstellbar. Die Autoren beschreiben in diesem Artikel ein ambitioniertes Projekt, in dem ein roboterbasiertes ultraschallgesteuertes Assistenzsystem als Alternative zur konventionellen Verwendung von Röntgenstrahlen und Röntgenkontrastmittel im Rahmen von peripheren endovaskulären Interventionen dienen soll.

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Toward real-time 3D ultrasound registration-based visual servoing for interventional navigation

Cited by 24 publications

References 28 publications

3D ultrasound registration-based visual servoing for neurosurgical navigation

3D ultrasound registration-based visual servoing for neurosurgical navigation

The Vision of Digital Surgery

Roboterbasierte Ultraschallsteuerung

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