胎儿镜检查中的机器人超声引导器械定位

IF 3.4 Q2 ENGINEERING, BIOMEDICAL
Daniel Costa;Gianni Borghesan;Mouloud Ourak;António Pedro Aguiar;Yuyu Cai;Emmanuel Vander Poorten
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引用次数: 0

摘要

胎儿镜腔内气管闭塞术(FETO)是一种微创胎儿手术(MIFS),旨在减轻先天性膈疝(CDH)的影响。在 FETO 过程中,使用胎儿镜将乳胶气球导入胎儿气管。通常,这种手术是在超声引导下进行的,由超声技师手动操作超声探头。这种手动操作对超声技师的体力和认知能力提出了相当高的要求,给超声技师带来了负担。本文提出了一种基于超声波的机器人仪器跟踪系统,可自动控制探头位置,同时确保胎儿镜在超声波图像中的连续可见性。该系统的开发需要完成两项任务。首先,开发并比较了一系列胎儿镜定位算法。其次,为机器人超声系统开发了基于任务的控制。在有注释的超声数据集上对定位算法的性能进行了评估。根据评估结果选择了 OEU-Net 算法,并在仪器跟踪系统中实施。跟踪系统的性能评估表明,它能够跟踪胎儿镜,平均误差低于 4 毫米。因此,所开发的系统是胎儿宫内窥视术中超声引导自动机器人辅助系统的一大进步。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Robotic Ultrasound-Guided Instrument Localization in Fetoscopy
Fetoscopic Endoluminal Tracheal Occlusion (FETO) is a minimally invasive fetal surgery (MIFS) aimed at mitigating the effects of Congenital Diaphragmatic Hernia (CDH). During FETO, a latex balloon is introduced in the fetal trachea using a fetoscope. Typically, this surgery is performed under ultrasound guidance which is provided by a sonographer who manually operates the ultrasound probe. This manual operation imposes a considerable physical and cognitive demand, placing a burden on the sonographer. This paper proposes a robotic ultrasound-based instrument tracking system that automates the probe position control while ensuring continuous visibility of the fetoscope in ultrasound images. The development of the proposed system is achieved with the completion of two tasks. Firstly, a series of fetoscope localization algorithms are developed and compared. Secondly, a task-based control for a robotic ultrasound system is developed. The localization algorithms’ performance is evaluated on annotated ultrasound datasets. The OEU-Net algorithm is selected based on this evaluation and is implemented in the instrument tracking system. The performance assessment of the tracking system shows that it is capable of tracking the fetoscope with a mean error below 4 mm. Thus, the developed system represents a significant advancement toward automatic robotic assistance for ultrasound guidance during FETO.
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CiteScore
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