Towards MRI-Based Autonomous Robotic US Acquisitions: A First Feasibility Study
Hennersperger C, Fuerst B, Virga S, Zettinig O, Frisch B, Neff T, Navab N (2017)
Publication Type: Journal article
Publication year: 2017
Journal
Book Volume: 36
Pages Range: 538-548
Article Number: 7637013
Journal Issue: 2
Abstract
Robotic ultrasound has the potential to assist and guide physicians during interventions. In this work, we present a set of methods and a workflow to enable autonomous MRI-guided ultrasound acquisitions. Our approach uses a structured-light 3D scanner for patient-to-robot and image-to-patient calibration, which in turn is used to plan 3D ultrasound trajectories. These MRI-based trajectories are followed autonomously by the robot and are further refined online using automatic MRI/US registration. Despite the low spatial resolution of structured light scanners, the initial planned acquisition path can be followed with an accuracy of 2.46 ± 0.96 mm. This leads to a good initialization of the MRI/US registration: the 3D-scan-based alignment for planning and acquisition shows an accuracy (distance between planned ultrasound and MRI) of 4.47 mm, and 0.97 mm after an online-update of the calibration based on a closed loop registration.
Involved external institutions
Technische Universität München (TUM)
Germany (DE)
Johns Hopkins University (JHU)
United States (USA) (US)
KUKA Roboter GmbH
Germany (DE)
Germany (DE)
Johns Hopkins University (JHU)
United States (USA) (US)
KUKA Roboter GmbH
Germany (DE)
How to cite
APA:
Hennersperger, C., Fuerst, B., Virga, S., Zettinig, O., Frisch, B., Neff, T., & Navab, N. (2017). Towards MRI-Based Autonomous Robotic US Acquisitions: A First Feasibility Study. IEEE Transactions on Medical Imaging, 36(2), 538-548. https://doi.org/10.1109/TMI.2016.2620723
MLA:
Hennersperger, Christoph, et al. "Towards MRI-Based Autonomous Robotic US Acquisitions: A First Feasibility Study." IEEE Transactions on Medical Imaging 36.2 (2017): 538-548.
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