Brattain Laura J, Loschak Paul M, Tschabrunn Cory M, Anter Elad, Howe Robert D
Harvard School of Engineering and Applied Sciences, Cambridge, MA USA; MIT Lincoln Laboratory, Lexington, MA USA.
Harvard School of Engineering and Applied Sciences, Cambridge, MA USA.
Augment Environ Comput Assist Interv (2014). 2014;8678:41-50. doi: 10.1007/978-3-319-10437-9_5.
We present an instrument tracking and visualization system for intra-cardiac ultrasound catheter guided procedures, enabled through the robotic control of ultrasound catheters. Our system allows for rapid acquisition of 2D ultrasound images and accurate reconstruction and visualization of a 3D volume. The reconstructed volume addresses the limited field of view, an inherent problem of ultrasound imaging, and serves as a navigation map for procedure guidance. Our robotic system can track a moving instrument by continuously adjusting the imaging plane and visualizing the instrument tip. The overall instrument tracking accuracy is 2.2 RMS in position and 0.8° in angle.
我们展示了一种用于心内超声导管引导手术的仪器跟踪和可视化系统，该系统通过超声导管的机器人控制实现。我们的系统能够快速采集二维超声图像，并对三维容积进行精确重建和可视化。重建的容积解决了超声成像固有的视野受限问题，并作为手术引导的导航图。我们的机器人系统可以通过不断调整成像平面并可视化器械尖端来跟踪移动的器械。器械跟踪的总体精度在位置上为2.2 RMS，在角度上为0.8°。
