Photoacoustic-based visual servoing of a needle tip.
Photoacoustic-based visual servoing of a needle tip.
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DOI：
10.1038/s41598-018-33931-9
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发表时间：
2018-10-19
影响因子：
4.6
通讯作者：
Shubert J
中科院分区：
文献类型：
--
作者：
Lediju Bell MA;Shubert J
在术中设置中，来自金属手术工具的声学杂波和反射伪影的存在通常降低超声成像的有效性并且使手术工具尖端的定位复杂化。我们提出了一种替代方法，在这些具有挑战性的声学环境中的工具跟踪和导航，通过增强超声系统与光源（执行光声成像）和机器人（自主和鲁棒地遵循手术工具，无论组织介质）。机器人控制的超声探头通过分割和跟踪从工具内部的光纤产生的光声信号来连续地可视化工具尖端的位置。在存在脂肪、肌肉、脑、颅骨和肝组织且存在和不存在额外杂波层的情况下的系统验证导致平均信号跟踪误差<2mm，平均探头居中误差<1mm，并且从超声扰动成功恢复，表示患者运动或从光声图像切换到超声图像以搜索感兴趣的目标。在具有和不具有显著声学杂波的受控实验中对通道SNR的详细分析揭示，针尖的检测可以使用光声成像，特别是在超声成像传统上失败的情况下。结果表明，这种新型的机器人和光声系统组合在具有声学挑战性的环境中指导手术和程序的前景。
In intraoperative settings, the presence of acoustic clutter and reflection artifacts from metallic surgical tools often reduces the effectiveness of ultrasound imaging and complicates the localization of surgical tool tips. We propose an alternative approach for tool tracking and navigation in these challenging acoustic environments by augmenting ultrasound systems with a light source (to perform photoacoustic imaging) and a robot (to autonomously and robustly follow a surgical tool regardless of the tissue medium). The robotically controlled ultrasound probe continuously visualizes the location of the tool tip by segmenting and tracking photoacoustic signals generated from an optical fiber inside the tool. System validation in the presence of fat, muscle, brain, skull, and liver tissue with and without the presence of an additional clutter layer resulted in mean signal tracking errors <2 mm, mean probe centering errors <1 mm, and successful recovery from ultrasound perturbations, representing either patient motion or switching from photoacoustic images to ultrasound images to search for a target of interest. A detailed analysis of channel SNR in controlled experiments with and without significant acoustic clutter revealed that the detection of a needle tip is possible with photoacoustic imaging, particularly in cases where ultrasound imaging traditionally fails. Results show promise for guiding surgeries and procedures in acoustically challenging environments with this novel robotic and photoacoustic system combination.
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影响因子：
2.4
作者：
FRY, FJ;BARGER, JE
通讯作者：
BARGER, JE
有或没有DA Vinci机器人执行的基于光声指导的基于光声指导的方法
影响因子：
3.5
作者：
Gandhi N;Allard M;Kim S;Kazanzides P;Lediju Bell MA
通讯作者：
Lediju Bell MA
影响因子：
5.9
作者：
Kettenbach, J;Kronreif, G;Bergmann, H
通讯作者：
Bergmann, H
影响因子：
2.3
作者：
Huang, Jinlan;Triedman, John K.;Dupont, Pierre E.
通讯作者：
Dupont, Pierre E.
DOI：
10.1117/1.jmi.5.2.021213
发表时间：
2018-04
期刊：
Journal of medical imaging (Bellingham, Wash.)
影响因子：
--
作者：
Allard M;Shubert J;Bell MAL
通讯作者：
Bell MAL