Background: Applying transrectal ultrasound to robot-assisted laparoscopic radical prostatectomy has attracted attention in recent years, and it is considered as a proper method to provide real-time subsurface anatomic features. A precise registration between the ultrasound equipment and robotic surgical system is necessary, which usually requires a fast and accurate recognition of the registration tool in the ultrasound image.
Methods: Tissue forceps are chosen as the registration tool. J-divergence anisotropy diffusion and prior knowledge snake segmentation are proposed for the automatic recognition of forceps in ultrasound images.
Results: Simulation, gel tissue phantom experiments and in vitro experiments are carried out. Several evaluation indices are calculated to compare results under different methods.
Conclusions: The proposed methods are proved to be practicable, reliable and superior to existing ones, with reduced calculation time and higher accuracy.
Keywords: anisotropy diffusion denoising; prior knowledge snake segmentation; ultrasound image.
© 2018 John Wiley & Sons, Ltd.