GPU based real-time instrument tracking with three-dimensional ultrasound
GPU based real-time instrument tracking with three-dimensional ultrasound
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DOI：
10.1016/j.media.2007.06.009
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发表时间：
2007-10-01
影响因子：
10.9
通讯作者：
Howe, Robert D.
中科院分区：
文献类型：
--
作者：
Novotny, Paul M.;Stoll, Jeff A.;Howe, Robert D.
实时三维超声使新的心内外科手术成为可能，但超声中器械的扭曲外观给外科医生带来了挑战。本文提出了一种识别超声体积内仪器位置的检测技术。该算法使用广义氡变换的形式来搜索超声图像中的长直物体，这是仪器的特征，在心脏组织中找不到。当与放置在仪器轴上的无源标记相结合时，可以在 3D 空间中找到仪器的完整位置和方向。该检测技术适合在当前一代个人计算机图形处理器单元 (GPU) 上快速执行。我们的 GPU 实现在 31 毫秒内检测到手术器械，足以以超声机每秒 25 个体积的速率进行实时跟踪。水箱实验发现仪器方向误差为 1.1 度，尖端位置误差小于 1.8 毫米。最后，一项体内研究证明仪器可以成功追踪跳动的猪心脏。 (C) 2007 Elsevier B.V. 保留所有权利。
Real-time three-dimensional ultrasound enables new, intracardiac surgical procedures, but the distorted appearance of instruments in ultrasound poses a challenge to surgeons. This paper presents a detection technique that identifies the position of the instrument within the ultrasound volume. The algorithm uses a form of the generalized Radon transform to search for long straight objects in the ultrasound image, a feature characteristic of instruments and not found in cardiac tissue. When combined with passive markers placed on the instrument shaft, the full position and orientation of the instrument is found in 3D space. This detection technique is amenable to rapid execution on the current generation of personal computer graphics processor units (GPU). Our GPU implementation detected a surgical instrument in 31 ms, sufficient for real-time tracking at the 25 volumes per second rate of the ultrasound machine. A water tank experiment found instrument orientation errors of 1.1 degrees and tip position errors of less than 1.8 mm. Finally, an in vivo study demonstrated successful instrument tracking inside a beating porcine heart. (C) 2007 Elsevier B.V. All rights reserved.