3D ultrasound registration-based visual servoing for neurosurgical navigation

3D ultrasound registration-based visual servoing for neurosurgical navigation Int J CARS (2017) 12:1607–1619 DOI 10.1007/s11548-017-1536-2 ORIGINAL ARTICLE 3D ultrasound registration-based visual servoing for neurosurgical navigation 1,2 1,2 1,2 1,2 Oliver Zettinig · Benjamin Frisch · Salvatore Virga · Marco Esposito · 3,4 3 1,2 Anna Rienmüller · Bernhard Meyer · Christoph Hennersperger · 3 1,2 Yu-Mi Ryang · Nassir Navab Received: 4 November 2016 / Accepted: 1 February 2017 / Published online: 24 February 2017 © CARS 2017 Abstract 3D sweeps, we achieved direction-independent positioning ◦ ◦ Purpose We present a fully image-based visual servoing errors of 0.35±0.19 mm and 0.61 ±0.45 , respectively. Our framework for neurosurgical navigation and needle guidance. method is capable of compensating movements of around The proposed servo-control scheme allows for compensation 25 mm/s and works reliably on human anatomy with errors of target anatomy movements, maintaining high navigational of 1.45 ± 0.78 mm. In all four manual insertions by an expert accuracy over time, and automatic needle guide alignment for surgeon, a needle could be successfully inserted into the facet accurate manual insertions. joint, with an estimated targeting accuracy of 1.33±0.33 mm, Method Our system comprises a motorized 3D ultrasound superior to the gold standard. (US) transducer mounted on a robotic http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png International Journal of Computer Assisted Radiology and Surgery Springer Journals
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Publisher
Springer International Publishing
Copyright
Copyright © 2017 by CARS
Subject
Medicine & Public Health; Imaging / Radiology; Surgery; Health Informatics; Computer Imaging, Vision, Pattern Recognition and Graphics; Computer Science, general
ISSN
1861-6410
eISSN
1861-6429
D.O.I.
10.1007/s11548-017-1536-2
Publisher site
See Article on Publisher Site

Abstract

Int J CARS (2017) 12:1607–1619 DOI 10.1007/s11548-017-1536-2 ORIGINAL ARTICLE 3D ultrasound registration-based visual servoing for neurosurgical navigation 1,2 1,2 1,2 1,2 Oliver Zettinig · Benjamin Frisch · Salvatore Virga · Marco Esposito · 3,4 3 1,2 Anna Rienmüller · Bernhard Meyer · Christoph Hennersperger · 3 1,2 Yu-Mi Ryang · Nassir Navab Received: 4 November 2016 / Accepted: 1 February 2017 / Published online: 24 February 2017 © CARS 2017 Abstract 3D sweeps, we achieved direction-independent positioning ◦ ◦ Purpose We present a fully image-based visual servoing errors of 0.35±0.19 mm and 0.61 ±0.45 , respectively. Our framework for neurosurgical navigation and needle guidance. method is capable of compensating movements of around The proposed servo-control scheme allows for compensation 25 mm/s and works reliably on human anatomy with errors of target anatomy movements, maintaining high navigational of 1.45 ± 0.78 mm. In all four manual insertions by an expert accuracy over time, and automatic needle guide alignment for surgeon, a needle could be successfully inserted into the facet accurate manual insertions. joint, with an estimated targeting accuracy of 1.33±0.33 mm, Method Our system comprises a motorized 3D ultrasound superior to the gold standard. (US) transducer mounted on a robotic

Journal

International Journal of Computer Assisted Radiology and SurgerySpringer Journals

Published: Feb 24, 2017

References

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