Abstract
It is often required to hold an ultrasound probe for long time so that the moving target is maintained within the B-mode image, especially for minimally invasive interventions. Using a conventional 2D probe, the tracking out-of-plane motion is a challenging technique because in this case the target is missing from the image plane. In this paper, we propose a 3D tracking method for a probe holding robot based on the 2D B-mode image feedback. In order to track the out-of-plane motion, a template matching between the current image and the previously recorded 3D data is performed. In-plane motion is detected by a template matching in the plane. Essentially the tracking by visual information on the real soft tissue is difficult because of its deformation. However, our method is robust for a certain amount of the deformation. We have applied this method for an in-vivo experiment of human liver respiratory motion compensation and results show its effectiveness.
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This work was supported by JSPS KAKENHI Grant Number 25350568.
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Nakadate, R., Safwan, A., Ishii, H., Saito, A., Takanishi, A., Hashizume, M. (2016). 3D Tracking of Respiratory Liver Movement by a Robot Assisted Medical Ultrasound. In: Fujie, M. (eds) Computer Aided Surgery. Springer, Tokyo. https://doi.org/10.1007/978-4-431-55810-1_2
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DOI: https://doi.org/10.1007/978-4-431-55810-1_2
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