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Single camera closed-form real-time needle trajectory tracking for ultrasound Najafi, Mohammad; Rohling, Robert N.
Abstract
In ultrasound-guided needle insertion procedures, tracking of the needle relative to the ultrasound image is beneficial for needle trajectory planning and guidance. A single camera closed-form method is proposed for automatic real-time trajectory tracking with a low-cost camera mounted directly on the ultrasound transducer. The camera is calibrated to the ultrasound image coordinates. By mounting the camera on the transducer, issues of visual obstruction are reduced and accuracy of tracking is increased compared to camera-tracking systems with a fixed case. Compared to previous work with stereo cameras, a single camera further reduces cost, complexity and size, but requires a needle with known markings. The proposed solution uses the depth markings etched on many common needles (e.g. epidural needle). A fully automatic image processing method has been developed for real-time identification of the needle trajectory using a novel closed-form solution based on three identified markings and the camera's intrinsic calibration parameters. The trajectory of the needle relative to the ultrasound image is calculated and displayed. Validation compares the calculated intersection of the needle trajectory to the ultrasound image with the depiction of the actual needle intersection in the image. The overall error is 3.0 ± 2.6 mm for a low-cost 640×480 pixel USB camera. Copyright 2011 Society of Photo-Optical Instrumentation Engineers. One print or electronic copy may be made for personal use only. Systematic reproduction and distribution, duplication of any material in this paper for a fee or for commercial purposes, or modification of the content of the paper are prohibited.
Item Metadata
Title |
Single camera closed-form real-time needle trajectory tracking for ultrasound
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Creator | |
Publisher |
Society of Photo-Optical Instrumentation Engineers (SPIE)
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Date Issued |
2011
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Description |
In ultrasound-guided needle insertion procedures, tracking of the needle relative to the ultrasound image is beneficial for needle trajectory planning
and guidance. A single camera closed-form method is proposed for automatic real-time trajectory tracking with a low-cost camera mounted directly on
the ultrasound transducer. The camera is calibrated to the ultrasound image coordinates. By mounting the camera on the transducer, issues of visual
obstruction are reduced and accuracy of tracking is increased compared to camera-tracking systems with a fixed case. Compared to previous work with
stereo cameras, a single camera further reduces cost, complexity and size, but requires a needle with known markings. The proposed solution uses the
depth markings etched on many common needles (e.g. epidural needle). A fully automatic image processing method has been developed for real-time
identification of the needle trajectory using a novel closed-form solution based on three identified markings and the camera's intrinsic calibration
parameters. The trajectory of the needle relative to the ultrasound image is calculated and displayed. Validation compares the calculated intersection
of the needle trajectory to the ultrasound image with the depiction of the actual needle intersection in the image. The overall error is 3.0 ± 2.6 mm
for a low-cost 640×480 pixel USB camera. Copyright 2011 Society of Photo-Optical Instrumentation Engineers.
One print or electronic copy may be made for personal use only. Systematic reproduction and distribution,
duplication of any material in this paper for a fee or for commercial purposes, or modification of the content of the paper are prohibited.
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Genre | |
Type | |
Language |
eng
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Date Available |
2011-07-05
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Provider |
Vancouver : University of British Columbia Library
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Rights |
Attribution-NonCommercial-NoDerivatives 4.0 International
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DOI |
10.14288/1.0107551
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URI | |
Affiliation | |
Citation |
Najafi, Mohammad; Rohling, Robert N. Single camera closed-form real-time needle trajectory tracking for ultrasound. Medical Imaging 2011: Visualization, Image-Guided Procedures, and Modeling, edited by Kenneth H. Wong, David R. Holmes III, Proceedings of SPIE Volume 7964, 79641F, 2011.
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Publisher DOI |
10.1117/12.877798
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Peer Review Status |
Reviewed
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Scholarly Level |
Faculty
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Copyright Holder |
Rohling, Robert N.
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Rights URI | |
Aggregated Source Repository |
DSpace
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Item Media
Item Citations and Data
Rights
Attribution-NonCommercial-NoDerivatives 4.0 International