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A Real-time Freehand 3D Ultrasound System for Image-guided Surgery. Jacqueline Nerney Welch, Jeremy A. Johnson, Michael R. Bax, Rana Badr, Ramin Shahidi. IEEE Ultrasonics Symposium 2000 October 24, 2000. Overview. Design motivations and decisions 3D ultrasound Freehand scanning

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A real time freehand 3d ultrasound system for image guided surgery l.jpg

A Real-time Freehand 3D Ultrasound System for Image-guided Surgery

Jacqueline Nerney Welch, Jeremy A. Johnson, Michael R. Bax, Rana Badr, Ramin Shahidi

IEEE Ultrasonics Symposium 2000

October 24, 2000


Overview l.jpg
Overview Surgery

  • Design motivations and decisions

    • 3D ultrasound

    • Freehand scanning

    • Optical tracking

    • Volume rendering

    • Simultaneous acquisition and visualization

  • Methods

    • Equipment

    • Spatial calibration

    • Volume construction and maintenance

  • Results

  • Future Work


Ultrasound l.jpg
Ultrasound Surgery

  • Ultrasound versus other imaging modalities (CT, MR, X-ray)

    • Least expensive

    • No ionizing radiation

    • Compatible with existing surgical instruments

    • Widely available and commonly used

    • Real-time, interactive nature


3d visualization of ultrasound l.jpg
3D Visualization of Ultrasound Surgery

  • Compared to 2D, 3D provides:

    • More intuitive and comprehensible images

    • More accurate volume estimation

    • Shorter scanning times

    • Improved sharing of information

2D Ultrasound Image

Volume Rendered 3D US


3d from conventional 2d ultrasound l.jpg

k Surgery

(x,y,z)

i

j

3D from Conventional 2D Ultrasound

2D Images

Volume Construction Engine

Position Data

Volume Rendering Engine

Workstation

US Probe

Tracking Device


Slide6 l.jpg

Optically Tracked Freehand Acquisition Surgery

  • Freehand versus other scanning techniques (mechanical)

    • Greatest freedom of movement

    • Compact

    • Least cumbersome

    • Requires probe position measurements

  • Optical versus other position tracking methods (magnetic, mechanical, speckle decorrelation)

    • Insensitive to metallic surgical equipment

    • Allows volume localization


Slide7 l.jpg

Interactive Volume Rendering Surgery

  • Volume rendering versus other visualization methods (slice projection, surface rendering)

    • Truest to the data set

    • Easiest to interpret

    • Segmentation not required

    • Computationally expensive but feasible with current technology


Simultaneous acquisition visualization l.jpg

Static Volume Surgery

Volume Construction Engine

k

k

(x,y,z)

(x,y,z)

Visualization

Data

Storage

i

i

j

j

Dynamic Volume

Volume Construction Engine

Simultaneous Acquisition & Visualization

Simultaneous Acquisition & Visualization

Acquisition


Equipment l.jpg
Equipment Surgery

  • Image Guided Technology FlashPoint™ 5000 optical tracking system with 580 mm camera

  • Sonosite handheld ultrasound scanner with 5MHz linear probe

  • SGI 320 Visual Workstation with a single processor running Windows NT



Calibration parameters l.jpg
Calibration Parameters Surgery

kP

  • 6 extrinsic parameters

    • Rotation (Ri , Rj , Rk)

    • Translation (ti , tj , tk)

  • 2 intrinsic parameters

    • Image scale (si , sj)

  • Can be written as

Probe Tracking Device Coordinates

iP

jP

(Ri , Rj , Rk)

(ti , tj , tk)

(si , sj)

iS, u

jS, v

Slice Coordinates


Calibration phantom l.jpg
Calibration Phantom Surgery

Image of Phantom During Calibration

Ultrasound Phantom

(1/16” Acrylic)


Calibration method l.jpg
Calibration Method Surgery

  • Obtain feature positions

  • Align ultrasound probe

  • Capture US image and probe position

  • Localize features in image

  • Calculate calibration parameters

    • Scale factor

    • Rotation and Translation


Volume construction and maintenance l.jpg
Volume Construction and Maintenance Surgery

Insertion of New Slices

Removal of Old Slices

Overwrite Existing Slices

Interpolate with Nearby Slices


Results l.jpg
Results Surgery


Results16 l.jpg
Results Surgery


Future work l.jpg
Future Work Surgery

  • Quantify and improve system performance

    • Spatial and temporal accuracy

    • Data rates

  • Display position and trajectory of surgical instruments

  • Apply system to clinical situations


Acknowledgements l.jpg
Acknowledgements Surgery

  • Dr. Thomas Krummel’s lab

  • DOD Graduate Research Fellowship

  • CBYON, Inc.


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