Abstract
We present a method for real-time tracking of moving soft tissue with B-mode ultrasound (US). The method makes use of the speckle information contained in the US images to estimate the in-plane and out-of-plane motion of a fixed target relative to the ultrasound scan plane. The motion information is then used as closed-loop feedback to a robot which corrects for the target motion. The concept is demonstrated for translation motions in an experimental setup consisting of an ultrasound speckle phantom, a robot for simulating tissue motion, and a robot that performs motion stabilization from US images. This concept shows promise for US-guided procedures that require real-time motion tracking and compensation.
Publication types
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Evaluation Study
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Research Support, U.S. Gov't, Non-P.H.S.
MeSH terms
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Algorithms*
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Artificial Intelligence*
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Computer Systems
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Equipment Design
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Equipment Failure Analysis
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Image Enhancement / instrumentation
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Image Enhancement / methods
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Image Interpretation, Computer-Assisted / instrumentation
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Image Interpretation, Computer-Assisted / methods*
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Imaging, Three-Dimensional / methods*
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Pilot Projects
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Reproducibility of Results
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Robotics / instrumentation
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Robotics / methods*
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Sensitivity and Specificity
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Surgery, Computer-Assisted / instrumentation
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Surgery, Computer-Assisted / methods*
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Ultrasonography, Interventional / instrumentation
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Ultrasonography, Interventional / methods*
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User-Computer Interface