Towards MRI-Based Autonomous Robotic US Acquisitions: A First Feasibility Study

Christoph Hennersperger; Bernhard Fuerst; Salvatore Virga; Oliver Zettinig; Benjamin Frisch; Thomas Neff; Nassir Navab

doi:10.1109/TMI.2016.2620723

Towards MRI-Based Autonomous Robotic US Acquisitions: A First Feasibility Study

Christoph Hennersperger, Bernhard Fuerst, Salvatore Virga, Oliver Zettinig, Benjamin Frisch, Thomas Neff, Nassir Navab

Research output: Contribution to journal › Article › peer-review

47 Scopus citations

Abstract

Robotic ultrasound has the potential to assist and guide physicians during interventions. In this work, we present a set of methods and a workflow to enable autonomous MRI-guided ultrasound acquisitions. Our approach uses a structured-light 3D scanner for patient-to-robot and image-to-patient calibration, which in turn is used to plan 3D ultrasound trajectories. These MRI-based trajectories are followed autonomously by the robot and are further refined online using automatic MRI/US registration. Despite the low spatial resolution of structured light scanners, the initial planned acquisition path can be followed with an accuracy of 2.46 ± 0.96 mm. This leads to a good initialization of the MRI/US registration: the 3D-scan-based alignment for planning and acquisition shows an accuracy (distance between planned ultrasound and MRI) of 4.47 mm, and 0.97 mm after an online-update of the calibration based on a closed loop registration.

Original language	English (US)
Article number	7637013
Pages (from-to)	538-548
Number of pages	11
Journal	IEEE transactions on medical imaging
Volume	36
Issue number	2
DOIs	https://doi.org/10.1109/TMI.2016.2620723
State	Published - Feb 2017
Externally published	Yes

Keywords

Automatic imaging
image-guidance
medical robotics
multi-modal registration
robotic ultrasound
ultrasonic imaging

ASJC Scopus subject areas

Software
Radiological and Ultrasound Technology
Computer Science Applications
Electrical and Electronic Engineering

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10.1109/TMI.2016.2620723

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title = "Towards MRI-Based Autonomous Robotic US Acquisitions: A First Feasibility Study",

abstract = "Robotic ultrasound has the potential to assist and guide physicians during interventions. In this work, we present a set of methods and a workflow to enable autonomous MRI-guided ultrasound acquisitions. Our approach uses a structured-light 3D scanner for patient-to-robot and image-to-patient calibration, which in turn is used to plan 3D ultrasound trajectories. These MRI-based trajectories are followed autonomously by the robot and are further refined online using automatic MRI/US registration. Despite the low spatial resolution of structured light scanners, the initial planned acquisition path can be followed with an accuracy of 2.46 ± 0.96 mm. This leads to a good initialization of the MRI/US registration: the 3D-scan-based alignment for planning and acquisition shows an accuracy (distance between planned ultrasound and MRI) of 4.47 mm, and 0.97 mm after an online-update of the calibration based on a closed loop registration.",

keywords = "Automatic imaging, image-guidance, medical robotics, multi-modal registration, robotic ultrasound, ultrasonic imaging",

author = "Christoph Hennersperger and Bernhard Fuerst and Salvatore Virga and Oliver Zettinig and Benjamin Frisch and Thomas Neff and Nassir Navab",

note = "Publisher Copyright: {\textcopyright} 2016 IEEE.",

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AU - Hennersperger, Christoph

AU - Fuerst, Bernhard

AU - Virga, Salvatore

AU - Zettinig, Oliver

AU - Frisch, Benjamin

AU - Neff, Thomas

AU - Navab, Nassir

PY - 2017/2

Y1 - 2017/2

N2 - Robotic ultrasound has the potential to assist and guide physicians during interventions. In this work, we present a set of methods and a workflow to enable autonomous MRI-guided ultrasound acquisitions. Our approach uses a structured-light 3D scanner for patient-to-robot and image-to-patient calibration, which in turn is used to plan 3D ultrasound trajectories. These MRI-based trajectories are followed autonomously by the robot and are further refined online using automatic MRI/US registration. Despite the low spatial resolution of structured light scanners, the initial planned acquisition path can be followed with an accuracy of 2.46 ± 0.96 mm. This leads to a good initialization of the MRI/US registration: the 3D-scan-based alignment for planning and acquisition shows an accuracy (distance between planned ultrasound and MRI) of 4.47 mm, and 0.97 mm after an online-update of the calibration based on a closed loop registration.

AB - Robotic ultrasound has the potential to assist and guide physicians during interventions. In this work, we present a set of methods and a workflow to enable autonomous MRI-guided ultrasound acquisitions. Our approach uses a structured-light 3D scanner for patient-to-robot and image-to-patient calibration, which in turn is used to plan 3D ultrasound trajectories. These MRI-based trajectories are followed autonomously by the robot and are further refined online using automatic MRI/US registration. Despite the low spatial resolution of structured light scanners, the initial planned acquisition path can be followed with an accuracy of 2.46 ± 0.96 mm. This leads to a good initialization of the MRI/US registration: the 3D-scan-based alignment for planning and acquisition shows an accuracy (distance between planned ultrasound and MRI) of 4.47 mm, and 0.97 mm after an online-update of the calibration based on a closed loop registration.

KW - Automatic imaging

KW - image-guidance

KW - medical robotics

KW - multi-modal registration

KW - robotic ultrasound

KW - ultrasonic imaging

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Towards MRI-Based Autonomous Robotic US Acquisitions: A First Feasibility Study

Abstract

Keywords

ASJC Scopus subject areas

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