a real time freehand 3d ultrasound system for image guided surgery
Download
Skip this Video
Download Presentation
A Real-time Freehand 3D Ultrasound System for Image-guided Surgery

Loading in 2 Seconds...

play fullscreen
1 / 18

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


  • 397 Views
  • Uploaded on

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

loader
I am the owner, or an agent authorized to act on behalf of the owner, of the copyrighted work described.
capcha
Download Presentation

PowerPoint Slideshow about 'A Real-time Freehand 3D Ultrasound System for Image-guided Surgery' - ryanadan


An Image/Link below is provided (as is) to download presentation

Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author.While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server.


- - - - - - - - - - - - - - - - - - - - - - - - - - E N D - - - - - - - - - - - - - - - - - - - - - - - - - -
Presentation Transcript
a real time freehand 3d ultrasound system for image guided surgery

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
Overview
  • 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
Ultrasound
  • 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
3D Visualization of Ultrasound
  • 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

k

(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

Optically Tracked Freehand Acquisition

  • 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

Interactive Volume Rendering

  • 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

Static Volume

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
Equipment
  • 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
Calibration Parameters

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
Calibration Phantom

Image of Phantom During Calibration

Ultrasound Phantom

(1/16” Acrylic)

calibration method
Calibration Method
  • 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
Volume Construction and Maintenance

Insertion of New Slices

Removal of Old Slices

Overwrite Existing Slices

Interpolate with Nearby Slices

future work
Future Work
  • Quantify and improve system performance
    • Spatial and temporal accuracy
    • Data rates
  • Display position and trajectory of surgical instruments
  • Apply system to clinical situations
acknowledgements
Acknowledgements
  • Dr. Thomas Krummel’s lab
  • DOD Graduate Research Fellowship
  • CBYON, Inc.
ad