PublicationDetail

Chair for Computer Aided Medical Procedures & Augmented Reality
Lehrstuhl für Informatikanwendungen in der Medizin & Augmented Reality

B. Busam, P. Ruhkamp, S. Virga, B. Lentes, J. Rackerseder, N. Navab, C. Hennersperger
Markerless Inside-Out Tracking for 3D Ultrasound Compounding
International Conference on Medical Image Computing and Computer Assisted Interventions (MICCAI), Point-of-Care Ultrasound, Granada, Spain, September 2018 (bib)

Tracking of rotation and translation of medical instruments plays a substantial role in many modern interventions and is essential for 3D ultrasound compounding. Traditional external optical tracking systems are often subject to line-of-sight issues, in particular when the region of interest is difficult to access. The introduction of inside-out tracking systems aims to overcome these issues. We propose a marker-less tracking system based on visual SLAM to enable tracking of ultrasound probes in an interventional scenario. To achieve this goal, we mount a miniature multi-modal (mono, stereo, active depth) vision system on the object of interest and relocalize its pose within an adaptive map of the operating room. We compare state-of-the-art algorithmic pipelines and apply the idea to transrectal 3D ultrasound (TRUS). Obtained volumes are compared to reconstruction using a commercial optical tracking system as well as a robotic manipulator. Feature-based binocular SLAM is identified as the most promising method and is tested extensively in challenging clinical environments and for the use case of prostate US biopsies.
This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each authors copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder.



Edit | Attach | Refresh | Diffs | More | Revision r1.11 - 19 Jul 2016 - 16:26 - NassirNavab

Lehrstuhl für Computer Aided Medical Procedures & Augmented Reality    rss.gif