Towards MRI-Based Autonomous Robotic US Acquisitions: A First Feasibility Study

被引：156

作者：

Hennersperger, Christoph ^{[1
]}

Fuerst, Bernhard ^{[2
]}

Virga, Salvatore ^{[3
]}

Zettinig, Oliver ^{[1
]}

Frisch, Benjamin ^{[1
]}

Neff, Thomas ^{[3
]}

Navab, Nassir ^{[1
,2
]}

机构：

[1] Tech Univ Munich, Chair Comp Aided Med Procedures, D-85748 Munich, Germany

[2] Johns Hopkins Univ, Comp Aided Med Procedures, Baltimore, MD 21218 USA

[3] KUKA Roboter GmbH, D-86165 Augsburg, Germany

来源：

IEEE TRANSACTIONS ON MEDICAL IMAGING | 2017年 / 36卷 / 02期

关键词：

Automatic imaging; image-guidance; medical robotics; multi-modal registration; robotic ultrasound; ultrasonic imaging; NEEDLE PLACEMENT; ULTRASOUND; RECONSTRUCTION; REGISTRATION; SYSTEM;

D O I：

10.1109/TMI.2016.2620723

中图分类号：

TP39 [计算机的应用];

学科分类号：

080201 [机械制造及其自动化];

摘要：

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.

引用

页码：538 / 548

页数：11

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