Probe Localization for Freehand 3D Ultrasound by Tracking Skin Features
Probe Localization for Freehand 3D Ultrasound by Tracking Skin Features
复制标题
通过跟踪皮肤特征进行徒手 3D 超声探头定位
DOI：
10.1007/978-3-319-10470-6_46
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发表时间：
2014
期刊：
影响因子：
--
通讯作者：
B. Anthony
中科院分区：
文献类型：
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作者：
Shih;Matthew W. Gilbertson;B. Anthony
超声探头相对于患者身体的定位是徒手三维超声和图像引导介入的关键。然而，目前的探头定位方法通常涉及笨重和昂贵的设备。本文描述了一种高性价比的微型移动系统，用于6-DOF探头定位，该系统对患者的刚性运动具有很强的鲁棒性。在该系统中，每次超声扫描采集时，通过固定在探头上的轻型摄像机记录扫描区域中的皮肤特征。基于皮肤特征构建皮肤地图，并在结合了先前运动模型、相机帧和超声扫描的贝叶斯概率框架中估计最佳探测姿势。通过对人体三个不同部位的徒手扫描，结果表明，测头行程为10 mm时，平均平移误差为0.91±0.49 mm，转动误差为0.55°±0.17度。通过与实际超声扫描的对比，验证了三维重建的有效性。
Ultrasound probe localization with respect to the patient's body is essential for freehand three-dimensional ultrasound and image-guided intervention. However, current methods for probe localization generally involve bulky and expensive equipment. In this paper, a highly cost-effective and miniature-mobile system is described for 6-DoF probe localization that is robust to rigid patient motion. In this system, skin features in the scan region are recorded at each ultrasound scan acquisition by a lightweight camera rigidly mounted to the probe. A skin map is built based on the skin features and optimal probe poses are estimated in a Bayesian probabilistic framework that incorporates a prior motion model, camera frames, and ultrasound scans. Through freehand scanning on three different body parts, it is shown that on average, for every probe travel distance of 10 mm, the translational and rotational errors are 0.91 ± 0.49 mm and 0.55 degrees ± 0.17 degrees, respectively. The 3D reconstructions were also validated by comparison with real ultrasound scans.