Krupa Alexandre, Fichtinger Gabor, Hager Gregory D
IRISA - INRIA Rennes, France.
Med Image Comput Comput Assist Interv. 2007;10(Pt 2):1-8. doi: 10.1007/978-3-540-75759-7_1.
We present a method for real-time tracking of moving soft tissue with B-mode ultrasound (US). The method makes use of the speckle information contained in the US images to estimate the in-plane and out-of-plane motion of a fixed target relative to the ultrasound scan plane. The motion information is then used as closed-loop feedback to a robot which corrects for the target motion. The concept is demonstrated for translation motions in an experimental setup consisting of an ultrasound speckle phantom, a robot for simulating tissue motion, and a robot that performs motion stabilization from US images. This concept shows promise for US-guided procedures that require real-time motion tracking and compensation.
我们提出了一种利用B型超声（US）对移动软组织进行实时跟踪的方法。该方法利用超声图像中包含的散斑信息来估计固定目标相对于超声扫描平面的平面内和平面外运动。然后，将运动信息用作对机器人的闭环反馈，以校正目标运动。在由超声散斑模型、模拟组织运动的机器人以及根据超声图像执行运动稳定的机器人组成的实验装置中，对平移运动演示了这一概念。这一概念对于需要实时运动跟踪和补偿的超声引导手术显示出了前景。
