Markerless inside-out tracking for 3D ultrasound compounding
Busam B, Ruhkamp P, Virga S, Lentes B, Rackerseder J, Navab N, Hennersperger C (2018)
Publication Type: Conference contribution
Publication year: 2018
Journal
Publisher: Springer Verlag
Book Volume: 11042 LNCS
Pages Range: 56-64
Conference Proceedings Title: Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Event location: Granada, ESP
ISBN: 9783030010447
DOI: 10.1007/978-3-030-01045-4_7
Abstract
Tracking of rotation and translation of medical instruments plays a substantial role in many modern interventions and is essential for 3D ultrasound compounding. Traditional external optical tracking systems are often subject to line-of-sight issues, in particular when the region of interest is difficult to access. The introduction of inside-out tracking systems aims to overcome these issues. We propose a marker-less tracking system based on visual SLAM to enable tracking of ultrasound probes in an interventional scenario. To achieve this goal, we mount a miniature multi-modal (mono, stereo, active depth) vision system on the object of interest and relocalize its pose within an adaptive map of the operating room. We compare state-of-the-art algorithmic pipelines and apply the idea to transrectal 3D ultrasound (TRUS). Obtained volumes are compared to reconstruction using a commercial optical tracking system as well as a robotic manipulator. Feature-based binocular SLAM is identified as the most promising method and is tested extensively in challenging clinical environments and for the use case of prostate US biopsies.
Involved external institutions
Germany (DE)How to cite
APA:
Busam, B., Ruhkamp, P., Virga, S., Lentes, B., Rackerseder, J., Navab, N., & Hennersperger, C. (2018). Markerless inside-out tracking for 3D ultrasound compounding. In Stephen Aylward, Amber Simpson, Lena Maier-Hein, Anne Martel, Matthieu Chabanas, João Manuel Tavares, Ingerid Reinertsen, Zeike Taylor, Yiming Xiao, Keyvan Farahani, Danail Stoyanov, Shuo Li, Hassan Rivaz (Eds.), Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (pp. 56-64). Granada, ESP: Springer Verlag.
MLA:
Busam, Benjamin, et al. "Markerless inside-out tracking for 3D ultrasound compounding." Proceedings of the International Workshop on Point-of-Care Ultrasound, POCUS 2018, the International Workshop on Bio-Imaging and Visualization for Patient-Customized Simulations, BIVPCS 2017, the International Workshop on Correction of Brainshift with Intra-Operative Ultrasound, CuRIOUS 2018, and the International Workshop on Computational Precision Medicine, CPM 2018, held in conjunction with the 21st International Conference on Medical Imaging and Computer-Assisted Intervention, MICCAI 2018, Granada, ESP Ed. Stephen Aylward, Amber Simpson, Lena Maier-Hein, Anne Martel, Matthieu Chabanas, João Manuel Tavares, Ingerid Reinertsen, Zeike Taylor, Yiming Xiao, Keyvan Farahani, Danail Stoyanov, Shuo Li, Hassan Rivaz, Springer Verlag, 2018. 56-64.
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