Freehand 3D-US reconstruction with robust visual tracking with application to ultrasound-augmented laparoscopy

Freehand 3D-US reconstruction with robust visual tracking with application to ultrasound-augmented laparoscopy

Three dimensional reconstruction of ultrasound volumes from tracked 2D images is a cost effective intraoperative 3D imaging strategy. The reconstructed volumes can be visualized in-situ if the probe is tracked with respect to the laparoscopic camera during laparoscopic thoraco-abdominal interventions. To this end, efficient, image-based intrinsic pose tracking methods are preferred over well-established extrinsic tracking methods primarily due to cost effectiveness and reduced work-flow overheads. However, the potential of these intrinsic tracking methods as means of tracking in freehand 3D ultrasound reconstruction has not been investigated to-date. In this paper, we demonstrate that a recently proposed image-based, robust pose tracking method can be used to achieve high quality reconstructions. By imaging a tissue-mimicking phantom with structures resembling anatomical targets, we demonstrate that the 3D US volumes resulted from this method are geometrically accurate. Both qualitative and quantitative results of the experiments are presented.

从跟踪的二维图像进行超声容积的三维重建是一种具有成本效益的术中三维成像策略。在腹腔镜胸腹干预过程中，如果相对于腹腔镜摄像机对探头进行跟踪，重建的容积可以原位可视化。为此，基于图像的高效内在位姿跟踪方法比成熟的外在跟踪方法更受青睐，主要是因为其成本效益高且减少了工作流程的开销。然而，这些内在跟踪方法作为徒手三维超声重建中的跟踪手段的潜力至今尚未得到研究。在本文中，我们证明了一种最近提出的基于图像的鲁棒位姿跟踪方法可用于实现高质量的重建。通过对具有类似于解剖目标结构的仿组织体模进行成像，我们证明了由这种方法得到的三维超声容积在几何上是准确的。文中给出了实验的定性和定量结果。