RI: Medium: Automated Calibration of Ultrasound for Image-Guided Surgical Procedures

该项目开发了用于在线校准超声探头的高级数学和计算方法，该方法考虑了著名的AX=XB传感器校准问题的概率版本，该问题在机器人学和计算机视觉文献中被忽视，该项目将提高当前计算机集成外科干预的能力，导致患者更低的辐射暴露，以及更好的微创手术结果。超声在微创外科手术中有许多好处，包括成本、易用性和患者/医生的辐射暴露。但超声图像是模糊的，需要广泛的培训才能在手术过程中正确使用。因此，结果在很大程度上取决于单个外科医生对该设备的熟练程度。更广泛的影响：除了外科手术的潜在好处外，JHU计算传感和机器人实验室(LCSR)为来访的本科生设立了一个暑期计划，将促进本科生参与拟议的研究。此外，在学年和暑假期间，国际学生协会继续通过研究经验指导巴尔的摩理工高中的高中生。超声波图像采集的可操作性和视觉特性，以及配准和校准的数学问题，使这一项目成为向学生介绍数学重要性的理想项目。

This project, developing advanced mathematical and computational methods for the online calibration of ultrasound probes that takes into account a probabilistic version of the well-known AX = XB sensor-calibration problem that has been overlooked in the robotics and computer vision literature, will advance current capabilities in computer-integrated surgical interventions, leading to lower radiation exposure to patients and better outcomes for minimally-invasive surgery.Ultrasound has many benefits for minimally-invasive surgical procedures, including cost, ease-of-use, and patient/doctor radiation exposure. But ultrasound images are fuzzy and require extensive training for proper use during surgical procedures. As a result, outcomes are heavily dependent on an individual surgeon's skill with the device. Broader Impacts: Beyond the potential benefits to surgical procedures, the Laboratory for Computational Sensing and Robotics (LCSR) at JHU has an established summer program for visiting undergraduate students that will facilitate involvement of undergraduates in the proposed research. In addition, the PI continues to mentor high school students from Baltimore Polytechnic High School through research experiences both during the academic year and the summer. The hands-on and visual nature of ultrasound image acquisition together with the mathematical problems of registration and calibration make this an ideal project to introduce students to the importance of mathematics.