Tubular Enhanced Geodesic Active Contours for continuum robot detection using 3D ultrasound

摘要: Three dimensional ultrasound is a promising imaging modality for minimally invasive robotic surgery. As the robots are typically metallic, they interact strongly with sound waves in ways that not modeled by system's signal processing algorithms. Consequently, produce substantial artifacts can make image guidance difficult, even experienced surgeons. This paper introduces new approach detecting curved continuum 3D images. The proposed combines geodesic active contours speed function based on enhancing “tubularity” of robot. In particular, it takes advantage known robot diameter along its length. It also fact surface facing probe provides most accurate image. method, termed Tubular Enhanced Geodesic Active Contours (TEGAC), demonstrated through ex vivo intracardiac experiments to offer superior performance compared conventional contours.