Intravascular Tracking of Micro-Agents Using Medical Ultrasound: Towards Clinical Applications

Znanstveni rad - Izvorni znanstveni rad

• Autor: Filip Šuligoj
• Autor: Christoff M. Heunis
• Autor: Sumit Mohanty
• Autor: Sarthak Misra
• Autorova ustanova: Sveučilište u Zagrebu; Fakultet strojarstva i brodogradnje
• Znanstveno / umjetničko područje, polje i grana: TEHNIČKE ZNANOSTI; Strojarstvo; Opće strojarstvo (konstrukcije)

Sažetak (engleski)

Abstract—Objective: This study demonstrates
intravascular micro-agent visualization by utilizing
robotic ultrasound-based tracking and visual servoing
in clinically-relevant scenarios. Methods: Visual servoing
path is planned intraoperatively using a body surface
point cloud acquired with a 3D camera and the vessel
reconstructed from ultrasound (US) images, where both
the camera and the US probe are attached to the robot endeffector.
Developed machine vision algorithms are used
for detection of micro-agents from minimal size of 250m
inside the vessel contour and tracking with error recovery.
Finally, real-time positions of the micro-agents are used for
servoing of the robot with the attached US probe. Constant
contact between the US probe and the surface of the body
is accomplished by means of impedance control. Results:
Breathing motion is compensated to keep constant
contact between the US probe and the body surface,
with minimal measured force of 2.02N. Anthropomorphic
phantom vessels are segmented with an Intersection-
Over-Union (IOU) score of 0.930.05, while micro-agent
tracking is performed with up to 99.8% success rate at
28-36 frames per second. Path planning, tracking and
visual servoing are realized over 80mm and 120mm long
surface paths. Conclusion: Experiments performed using
anthropomorphic surfaces, biological tissue, simulation
of physiological movement and simulation of fluid flow
through the vessels indicate that robust visualization and
tracking of micro-agents involving human patients is an
achievable goal.

• Ključne riječi (engleski): Microrobotics; Medical Robotics; Machine vision; Ultrasound imaging; Visual servoing
• Jezik: engleski
• Vrsta publikacije: Znanstveni rad - Izvorni znanstveni rad
• Status objave: Objavljen
• Vrsta recenzije: Recenziran - međunarodna recenzija
• Verzija publikacije: Objavljena verzija rada (izdavačev PDF)
• Naslov časopisa: IEEE Transactions on Biomedical Engineering
• Brojčani podaci: vol. 69, br. 12, str. 3739-3747
• p-ISSN: 0018-9294
• e-ISSN: 1558-2531
• DOI: https://doi.org/10.1109/TBME.2022.3176746
• URN:NBN: urn:nbn:hr:235:162155
• Datum objave publikacije: 2022-12
• URL dokumenta: https://ieeexplore.ieee.org/document/9780008/
• Vrsta resursa: Tekst
• Prava pristupa: Otvoreni pristup
• Datum i vrijeme pohrane: 2024-07-09 07:01:30