Ren Hongliang, Vasilyev Nikolay V, Dupont Pierre E
Hongliang Ren, Ph.D.,
Rep U S. 2011 Sep 25;2011:2083-2089. doi: 10.1109/IROS.2011.6094915.
Three-dimensional ultrasound can be an effective imaging modality for image-guided interventions since it enables visualization of both the instruments and the tissue. For robotic applications, its realtime frame rates create the potential for image-based instrument tracking and servoing. These capabilities can enable improved instrument visualization, compensation for tissue motion as well as surgical task automation. Continuum robots, whose shape comprises a smooth curve along their length, are well suited for minimally invasive procedures. Existing techniques for ultrasound tracking, however, are limited to straight, laparoscopic-type instruments and thus are not applicable to continuum robot tracking. Toward the goal of developing tracking algorithms for continuum robots, this paper presents a method for detecting a robot comprised of a single constant curvature in a 3D ultrasound volume. Computational efficiency is achieved by decomposing the six-dimensional circle estimation problem into two sequential three-dimensional estimation problems. Simulation and experiment are used to evaluate the proposed method.
三维超声可以成为图像引导介入手术的一种有效成像方式，因为它能够同时显示器械和组织。对于机器人应用而言，其实时帧率为基于图像的器械跟踪和伺服控制创造了潜力。这些功能可以改善器械可视化、补偿组织运动以及实现手术任务自动化。连续体机器人的形状沿其长度方向呈平滑曲线，非常适合微创手术。然而，现有的超声跟踪技术仅限于直线型腹腔镜器械，因此不适用于连续体机器人跟踪。为了实现开发连续体机器人跟踪算法的目标，本文提出了一种在三维超声容积中检测由单一恒定曲率组成的机器人的方法。通过将六维圆估计问题分解为两个连续的三维估计问题来实现计算效率。通过仿真和实验对所提出的方法进行评估。
