Probe tracking and its application in automatic acquisition using a trans-esophageal ultrasound robot
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Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
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Robotic trans-esophageal echocardiography (TEE) has many advantages over the traditional manual control approach during cardiac surgical procedures in terms of stability, remote operation, and radiation safety. To further improve the usability of the robotic approach, development of an intelligent system using automatic acquisition of ultrasound images is proposed. This is addressed using a view planning platform in which the robot is con- trolled according to a pre-planned path during the acquisition. Considering the real mechanical movement, feedback of the probe position is essential in ensuring the success of the automatic acquisition. In this paper, we present a tracking method using the combination of an electromagnetic (EM) tracking system and image-based registration for the purpose of feedback control used in the automatic acquisition. Phantom experiments were performed to evaluate the accuracy and reliability of the tracking and the automatic acquisition. The results indicate a reliable performance of the tracking method. As for automatic acquisition, the mean positioning error in the near field of ultrasound where most structures of clinical interest are located is 10.44 mm. This phantom study is encouraging for the eventual clinical application of robotic-based automatic TEE acquisition.
AuthorsWang, S; Singh, D; Lau, D; Reddy, K; Althoefer, K; Rhode, K; Housden, RJ
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