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 [oral]. (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.
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