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

Zettinig O, Fuerst B, Kojcev R, Esposito M, Salehi M, Wein W, Rackerseder J, Sinibaldi E, Frisch B, Navab N (2016)

Publication Type: Conference contribution

Publication year: 2016

Journal

Proceedings - IEEE International Conference on Robotics and Automation Institute of Electrical and Electronics Engineers

Publisher: Institute of Electrical and Electronics Engineers Inc.

Book Volume: 2016-June

Pages Range: 945-950

Conference Proceedings Title: Proceedings - IEEE International Conference on Robotics and Automation

Event location: Stockholm, SWE

ISBN: 9781467380263

DOI: 10.1109/ICRA.2016.7487226

Abstract

While intraoperative imaging is commonly used to guide surgical interventions, automatic robotic support for image-guided navigation has not yet been established in clinical routine. In this paper, we propose a novel visual servoing framework that combines, for the first time, full image-based 3D ultrasound registration with a real-time servo-control scheme. Paired with multi-modal fusion to a pre-interventional plan such as an annotated needle insertion path, it thus allows tracking a target anatomy, continuously updating the plan as the target moves, and keeping a needle guide aligned for accurate manual insertion. The presented system includes a motorized 3D ultrasound transducer mounted on a force-controlled robot and a GPU-based image processing toolkit. The tracking accuracy of our framework is validated on a geometric agar/gelatin phantom using a second robot, achieving positioning errors of on average 0.42-0.44 mm. With compounding and registration runtimes of up to total around 550 ms, real-time performance comes into reach. We also present initial results on a spine phantom, demonstrating the feasibility of our system for lumbar spine injections.

Involved external institutions

Technische Universität München (TUM) DE Germany (DE) Johns Hopkins University (JHU) US United States (USA) (US) ImFusion GmbH DE Germany (DE) Italian Institute of Technology / Istituto Italiano di Tecnologia (IIT) IT Italy (IT)

How to cite

APA:

Zettinig, O., Fuerst, B., Kojcev, R., Esposito, M., Salehi, M., Wein, W.,... Navab, N. (2016). Toward real-time 3D ultrasound registration-based visual servoing for interventional navigation. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 945-950). Stockholm, SWE: Institute of Electrical and Electronics Engineers Inc..

MLA:

Zettinig, Oliver, et al. "Toward real-time 3D ultrasound registration-based visual servoing for interventional navigation." Proceedings of the 2016 IEEE International Conference on Robotics and Automation, ICRA 2016, Stockholm, SWE Institute of Electrical and Electronics Engineers Inc., 2016. 945-950.

BibTeX: Download