Robot-assisted Ultrasound-guided Tracking of Anatomical Structures for the Application of Focused Ultrasound

Current Directions in Biomedical Engineering

Melzer Andreas¹  Unger Michael¹  Berger Johann¹  Gerold Bjoern² 

[1] Innovation Center Computer Assisted Surgery, Semmelweisstr. 14,Leipzig, Germany;Theraclion SA,Malakoff, France;

关键词: robotic arm;    hifu;    fus;    segmentation;    tracking;   

DOI  :  10.1515/cdbme-2020-3032

来源: DOAJ

【 摘 要 】

High intensity focused ultrasound is used as a surgical tool to treat completely non-invasively several diseases. Examples of clinical applications are uterine fibroids, prostate cancer, thyroid nodules, and varicose veins. Precise targeting is key for improving the treatment outcome. A method for an automated, robot-assisted tracking system was developed and evaluated. A wireless ultrasound scanner was used to acquire images of the target, in this case, a blood vessel. The active contour approach by Chan and Vese was used to segment and track while moving the scanner along the target structure with a collaborative robotic arm. The performance was assessed using a custom made Agar phantom. The mean tracking error, which is defined as the remaining distance of the lesion to the images’ centre line, was 0.27 mm ± 0.18 mm.

【 授权许可】

Unknown