GPU based real-time instrument tracking with three dimensional ultrasound

Authors:
Paul M. Novotny;Jeffrey A. Stoll;Nikolay V. Vasilyev;Pedro J. del Nido;Pierre E. Dupont;Robert D. Howe
Affiliations:
Division of Engineering and Applied Sciences, Harvard University, MA;Department of Aerospace and Mechanical Engineering, Boston University, MA;Department of Cardiovascular Surgery, Children’s Hospital Boston, MA;Department of Cardiovascular Surgery, Children’s Hospital Boston, MA;Department of Aerospace and Mechanical Engineering, Boston University, MA;Division of Engineering and Applied Sciences, Harvard University, MA
Venue:
MICCAI'06 Proceedings of the 9th international conference on Medical Image Computing and Computer-Assisted Intervention - Volume Part I
Year:
2006

Citing 1
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Abstract

Real-time 3D ultrasound can enable new image-guided surgical procedures, but high data rates prohibit the use of traditional tracking techniques. We present a new method based on the modified Radon transform that identifies the axis of instrument shafts as bright patterns in planar projections. Instrument rotation and tip location are then determined using fiducial markers. These techniques are amenable to rapid execution on the current generation of personal computer graphics processor units (GPU). Our GPU implementation detected a surgical instrument in 31 ms, sufficient for real-time tracking at the 26 volumes per second rate of the ultrasound machine. A water tank experiment found instrument tip position errors of less than 0.2 mm, and an in vivo study tracked an instrument inside a beating porcine heart. The tracking results showed good correspondence to the actual movements of the instrument.