Novotny Paul M, Stoll Jeffrey A, Vasilyev Nikolay V, del Nido Pedro J, Dupont Pierre E, Howe Robert D
Division of Engineering and Applied Sciences, Harvard University, MA, USA.
Med Image Comput Comput Assist Interv. 2006;9(Pt 1):58-65. doi: 10.1007/11866565_8.
Real-time 3D ultrasound can enable new image-guided surgical procedures, but high data rates prohibit the use of traditional tracking techniques. We present a new method based on the modified Radon transform that identifies the axis of instrument shafts as bright patterns in planar projections. Instrument rotation and tip location are then determined using fiducial markers. These techniques are amenable to rapid execution on the current generation of personal computer graphics processor units (GPU). Our GPU implementation detected a surgical instrument in 31 ms, sufficient for real-time tracking at the 26 volumes per second rate of the ultrasound machine. A water tank experiment found instrument tip position errors of less than 0.2 mm, and an in vivo study tracked an instrument inside a beating porcine heart. The tracking results showed good correspondence to the actual movements of the instrument.
实时三维超声能够实现新的图像引导手术操作，但高数据速率限制了传统跟踪技术的使用。我们提出了一种基于改进的拉东变换的新方法，该方法将器械轴的轴线识别为平面投影中的明亮图案。然后使用基准标记确定器械的旋转和尖端位置。这些技术适合在当前一代个人计算机图形处理器（GPU）上快速执行。我们的GPU实现能够在31毫秒内检测到手术器械，足以以超声仪每秒26帧的速率进行实时跟踪。水箱实验发现器械尖端位置误差小于0.2毫米，一项体内研究在跳动的猪心脏内跟踪了器械。跟踪结果与器械的实际运动显示出良好的对应关系。
