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
{"title":"胎儿镜检查中的机器人超声引导器械定位","authors":"Daniel Costa;Gianni Borghesan;Mouloud Ourak;António Pedro Aguiar;Yuyu Cai;Emmanuel Vander Poorten","doi":"10.1109/TMRB.2024.3407330","DOIUrl":null,"url":null,"abstract":"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.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"6 3","pages":"806-817"},"PeriodicalIF":3.4000,"publicationDate":"2024-03-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Robotic Ultrasound-Guided Instrument Localization in Fetoscopy\",\"authors\":\"Daniel Costa;Gianni Borghesan;Mouloud Ourak;António Pedro Aguiar;Yuyu Cai;Emmanuel Vander Poorten\",\"doi\":\"10.1109/TMRB.2024.3407330\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"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.\",\"PeriodicalId\":73318,\"journal\":{\"name\":\"IEEE transactions on medical robotics and bionics\",\"volume\":\"6 3\",\"pages\":\"806-817\"},\"PeriodicalIF\":3.4000,\"publicationDate\":\"2024-03-30\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"IEEE transactions on medical robotics and bionics\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://ieeexplore.ieee.org/document/10542396/\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q2\",\"JCRName\":\"ENGINEERING, BIOMEDICAL\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE transactions on medical robotics and bionics","FirstCategoryId":"1085","ListUrlMain":"https://ieeexplore.ieee.org/document/10542396/","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"ENGINEERING, BIOMEDICAL","Score":null,"Total":0}
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.
求助全文
通过发布文献求助,成功后即可免费获取论文全文。 去求助
来源期刊
CiteScore
6.80
自引率
0.00%
发文量
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术官方微信