Abstract
Real-time 3D ultrasound can enable new image-guided surgical procedures, but high data rates prohibit the use of traditional tracking techniques. We present a new method based on the modified Radon transform that identifies the axis of instrument shafts as bright patterns in planar projections. Instrument rotation and tip location are then determined using fiducial markers. These techniques are 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 26 volumes per second rate of the ultrasound machine. A water tank experiment found instrument tip position errors of less than 0.2 mm, and an in vivo study tracked an instrument inside a beating porcine heart. The tracking results showed good correspondence to the actual movements of the instrument.
Keywords
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.
Download to read the full chapter text
Chapter PDF
References
Cannon, J.W., et al.: Real time 3-dimensional ultrasound for guiding surgical tasks. Computer Assisted Surgery 8, 82–90 (2003)
Suematsu, Y., et al.: Three-dimensional echocardiography-guided beating-heart surgery without cardiopulmonary bypass: a feasibility study. J. Thorac. Cardiovasc. Surg. 128, 579–587 (2004)
Suematsu, Y., et al.: Three-dimensional echo-guided beating heart surgery without cardiopulmonary bypass: atrial septal defect closure in a swine model. J. Thorac. Cardiovasc. Surg. 130, 1348–1357 (2005)
Murkin, J.M., et al.: Beating heart surgery: Why expect less central nervous system morbidity? Annals of Thoracic Surgery 68, 1498–1501 (1999)
Zeitlhofer, J., et al.: Central nervous system function after cardiopulmonary bypass. European Heart Journal 14, 885–890 (1993)
Bellinger, D., et al.: Developmental and neurological status of children at 4 years of age after heart surgery with hypothermic circulatory arrest or low-flow cardiopulmonary bypass. Circulation 100, 526–532 (1999)
Vitrani, M., Morel, G., Ortmaier, T.: Automatic guidance of a surgical instrument with ultrasound based visual servoing. In: Proc. IEEE ICRA, pp. 510–515 (2005)
Ortmaier, T., et al.: Robust real-time instrument tracking in ultrasound images for visual servoing. In: Proc. IEEE ICRA, pp. 2167–2172 (2005)
Draper, K., et al.: An algorithm for automatic needle localization in ultrasound-guided breast biopsies. Medical Physics 27, 1971–1979 (2000)
Stoll, J., Novotny, P., Dupont, P., Howe, R.: Real-time 3d ultrasound-based servoing of a surgical instrument. In: Proc. IEEE ICRA (2006)
Novotny, P., Zickler, T., Howe, R.: Radon transform based instrument shaft detection in three-dimensional ultrasound (submitted, 2006), http://biorobotics.harvard.edu/pubs/NovotnyTMI.pdf
Stoll, J., Dupont, P.: Passive markers for ultrasound tracking of surgical instruments. In: Duncan, J.S., Gerig, G. (eds.) MICCAI 2005. LNCS, vol. 3750, pp. 41–48. Springer, Heidelberg (2005)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2006 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Novotny, P.M., Stoll, J.A., Vasilyev, N.V., del Nido, P.J., Dupont, P.E., Howe, R.D. (2006). GPU Based Real-Time Instrument Tracking with Three Dimensional Ultrasound. In: Larsen, R., Nielsen, M., Sporring, J. (eds) Medical Image Computing and Computer-Assisted Intervention – MICCAI 2006. MICCAI 2006. Lecture Notes in Computer Science, vol 4190. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11866565_8
Download citation
DOI: https://doi.org/10.1007/11866565_8
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-44707-8
Online ISBN: 978-3-540-44708-5
eBook Packages: Computer ScienceComputer Science (R0)