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Real-Time Slice-to-Volume Registration-Based Autonomous Navigation for Robot-Assisted Thyroid Biopsy

用于机器人辅助甲状腺活检的基于实时切片到体积配准的自主导航

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Abstract

With advancements in medical imaging and robotic technology, the idea of fully autonomous diagnosis and treatment has become appealing, from ethereal to tangible. Owing to its characteristics of non-invasiveness, non-radiation, and fast imaging speed, ultrasonography has been increasingly used in clinical practice, such as in obstetrics, gynecology, and surgical puncture. In this paper, we propose a real-time image-based visual servo control scheme using a hybrid slice-to-volume registration method. In this manner, the robot can autonomously locate the ultrasound probe to the desired posture according to preoperational planning, even in the presence of disturbances. The experiments are designed and conducted using a thyroid biopsy phantom model. The results show that the proposed scheme can achieve a refresh rate of up to 30 Hz and a tracking accuracy of (0.52±0.65) mm.

摘要

随着医学成像和机器人技术的进步, 完全自动诊断治疗的想法变得越来越有吸引力. 超声检查具有无创、 无辐射、 成像速度快等特点, 越来越多地被应用于临床, 如妇产科、 外科穿刺等. 在本文中, 我们提出了一种使用混合切片到体积配准方法的基于实时图像的视觉伺服控制方案. 以这种方式, 即使在存在干扰的情况下, 机器人也可以根据术前计划自主将超声探头定位到所需的姿态. 我们使用了甲状腺活检模体模型来设计和进行实验. 结果表明, 本文所提出的方案可以实现高达 30 Hz 的刷新率和 (0.52±0.65) mm 的跟踪精度.

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Author notes

  1. These authors contributed equally to this work.

Authors and Affiliations

  1. School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, 518172, Guangdong, China

    Jian Li  (李坚), Xingchao Wang  (王星超) & Zhenglong Sun  (孙正隆)

  2. Longgang District People’s Hospital, Shenzhen, 518172, Guangdong, China

    Min Zhong  (钟敏) & Jian Zheng  (郑剑)

Authors
  1. Jian Li  (李坚)
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  2. Xingchao Wang  (王星超)
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  3. Min Zhong  (钟敏)
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  4. Jian Zheng  (郑剑)
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  5. Zhenglong Sun  (孙正隆)
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Corresponding author

Correspondence to Zhenglong Sun  (孙正隆).

Additional information

Foundation item: the Shenzhen Science and Technology Program (No. RCYX20200714114736115), and the Longgang District Medical and Health Science and Technology Project of Shenzhen (No. LGWJ2021-036)

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Li, J., Wang, X., Zhong, M. et al. Real-Time Slice-to-Volume Registration-Based Autonomous Navigation for Robot-Assisted Thyroid Biopsy. J. Shanghai Jiaotong Univ. (Sci.) 28, 330–338 (2023). https://doi.org/10.1007/s12204-023-2606-y

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  • DOI: https://doi.org/10.1007/s12204-023-2606-y

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