Biplane US-Guided Real-Time Volumetric Target Pose Estimation Method for Theragnostic HIFU System
Joonho Seo*, Norihiro Koizumi*, Takakazu Funamoto*,
Naohiko Sugita*, Kiyoshi Yoshinaka*, Akira Nomiya**,
Yukio Homma**, Yoichiro Matsumoto*,
and Mamoru Mitsuishi*
*Graduate School of Engineering, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan
**Graduate School of Medicine, The University of Tokyo, Hongo, Tokyo, Japan
This paper presents a real-time pose estimation method as a part of robotic HIFU treatment system for moving volumetric targets. For the acquired biplane US images, current pose of the preoperative model is calculated by iterative segmentation and registration. Seed contours for the segmentation in each iteration is provided by previously registered preoperative 3-D model. The segmented boundary points then update the pose of 3-D model. The boundary outlier-removal makes the algorithm robust against partially noisy boundaries as well as the spatial boundary points accelerates the algorithm to be calculated in real-time. By the phantom experiments, registration accuracy for a biplane US image data was evaluated, and the processing time was also investigated.
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