Real-time tissue tracking with B-mode ultrasound using speckle and visual servoing

Med Image Comput Comput Assist Interv. 2007;10(Pt 2):1-8. doi: 10.1007/978-3-540-75759-7_1.

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

  • Evaluation Study
  • Research Support, U.S. Gov't, Non-P.H.S.

MeSH terms

  • Algorithms*
  • Artificial Intelligence*
  • Computer Systems
  • Equipment Design
  • Equipment Failure Analysis
  • Image Enhancement / instrumentation
  • Image Enhancement / methods
  • Image Interpretation, Computer-Assisted / instrumentation
  • Image Interpretation, Computer-Assisted / methods*
  • Imaging, Three-Dimensional / methods*
  • Pilot Projects
  • Reproducibility of Results
  • Robotics / instrumentation
  • Robotics / methods*
  • Sensitivity and Specificity
  • Surgery, Computer-Assisted / instrumentation
  • Surgery, Computer-Assisted / methods*
  • Ultrasonography, Interventional / instrumentation
  • Ultrasonography, Interventional / methods*
  • User-Computer Interface