Real-time tissue tracking with B-mode ultrasound using speckle and visual servoing

Authors:
Alexandre Krupa;Gabor Fichtinger;Gregory D. Hager
Affiliations:
IRISA, INRIA Rennes, France;Engineering Research Center, Johns Hopkins University;Engineering Research Center, Johns Hopkins University
Venue:
MICCAI'07 Proceedings of the 10th international conference on Medical image computing and computer-assisted intervention
Year:
2007

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Abstract

We present a method for real-time tracking of moving soft tissue with B-mode ultrasound (US). The method makes use of the speckle information contained in the US images to estimate the in-plane and out-of-plane motion of a fixed target relative to the ultrasound scan plane. The motion information is then used as closed-loop feedback to a robot which corrects for the target motion. The concept is demonstrated for translation motions in an experimental setup consisting of an ultrasound speckle phantom, a robot for simulating tissue motion, and a robot that performs motion stabilization from US images. This concept shows promise for US-guided procedures that require real-time motion tracking and compensation.