Ultrasound Probe and Hand-Eye Calibrations for Robot-Assisted Needle Biopsy
In robot-assisted ultrasound-guided needle biopsy, it is essential to conduct calibration of the ultrasound probe and to perform hand-eye calibration of the robot in order to establish a link between intra-operatively acquired ultrasound images and robot-assisted needle insertion. Based on a high-pr...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-12-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/22/23/9465 |
| _version_ | 1827642375769423872 |
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| author | Jihao Liu Wenyuan Sun Yuyun Zhao Guoyan Zheng |
| author_facet | Jihao Liu Wenyuan Sun Yuyun Zhao Guoyan Zheng |
| author_sort | Jihao Liu |
| collection | DOAJ |
| description | In robot-assisted ultrasound-guided needle biopsy, it is essential to conduct calibration of the ultrasound probe and to perform hand-eye calibration of the robot in order to establish a link between intra-operatively acquired ultrasound images and robot-assisted needle insertion. Based on a high-precision optical tracking system, novel methods for ultrasound probe and robot hand-eye calibration are proposed. Specifically, we first fix optically trackable markers to the ultrasound probe and to the robot, respectively. We then design a five-wire phantom to calibrate the ultrasound probe. Finally, an effective method taking advantage of steady movement of the robot but without an additional calibration frame or the need to solve the <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mi mathvariant="bold">AX</mi><mo>=</mo><mi mathvariant="bold">XB</mi></mrow></semantics></math></inline-formula> equation is proposed for hand-eye calibration. After calibrations, our system allows for in situ definition of target lesions and aiming trajectories from intra-operatively acquired ultrasound images in order to align the robot for precise needle biopsy. Comprehensive experiments were conducted to evaluate accuracy of different components of our system as well as the overall system accuracy. Experiment results demonstrated the efficacy of the proposed methods. |
| first_indexed | 2024-03-09T17:31:25Z |
| format | Article |
| id | doaj.art-016a40911b984062bf7353064a943f35 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-09T17:31:25Z |
| publishDate | 2022-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-016a40911b984062bf7353064a943f352023-11-24T12:14:48ZengMDPI AGSensors1424-82202022-12-012223946510.3390/s22239465Ultrasound Probe and Hand-Eye Calibrations for Robot-Assisted Needle BiopsyJihao Liu0Wenyuan Sun1Yuyun Zhao2Guoyan Zheng3Institute of Medical Robotics, School of Medical Engineering, Shanghai Jiao Tong University, Shanghai 200240, ChinaInstitute of Medical Robotics, School of Medical Engineering, Shanghai Jiao Tong University, Shanghai 200240, ChinaInstitute of Medical Robotics, School of Medical Engineering, Shanghai Jiao Tong University, Shanghai 200240, ChinaInstitute of Medical Robotics, School of Medical Engineering, Shanghai Jiao Tong University, Shanghai 200240, ChinaIn robot-assisted ultrasound-guided needle biopsy, it is essential to conduct calibration of the ultrasound probe and to perform hand-eye calibration of the robot in order to establish a link between intra-operatively acquired ultrasound images and robot-assisted needle insertion. Based on a high-precision optical tracking system, novel methods for ultrasound probe and robot hand-eye calibration are proposed. Specifically, we first fix optically trackable markers to the ultrasound probe and to the robot, respectively. We then design a five-wire phantom to calibrate the ultrasound probe. Finally, an effective method taking advantage of steady movement of the robot but without an additional calibration frame or the need to solve the <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mi mathvariant="bold">AX</mi><mo>=</mo><mi mathvariant="bold">XB</mi></mrow></semantics></math></inline-formula> equation is proposed for hand-eye calibration. After calibrations, our system allows for in situ definition of target lesions and aiming trajectories from intra-operatively acquired ultrasound images in order to align the robot for precise needle biopsy. Comprehensive experiments were conducted to evaluate accuracy of different components of our system as well as the overall system accuracy. Experiment results demonstrated the efficacy of the proposed methods.https://www.mdpi.com/1424-8220/22/23/9465robot-assistedultrasound guidedbiopsyhand-eyecalibration |
| spellingShingle | Jihao Liu Wenyuan Sun Yuyun Zhao Guoyan Zheng Ultrasound Probe and Hand-Eye Calibrations for Robot-Assisted Needle Biopsy Sensors robot-assisted ultrasound guided biopsy hand-eye calibration |
| title | Ultrasound Probe and Hand-Eye Calibrations for Robot-Assisted Needle Biopsy |
| title_full | Ultrasound Probe and Hand-Eye Calibrations for Robot-Assisted Needle Biopsy |
| title_fullStr | Ultrasound Probe and Hand-Eye Calibrations for Robot-Assisted Needle Biopsy |
| title_full_unstemmed | Ultrasound Probe and Hand-Eye Calibrations for Robot-Assisted Needle Biopsy |
| title_short | Ultrasound Probe and Hand-Eye Calibrations for Robot-Assisted Needle Biopsy |
| title_sort | ultrasound probe and hand eye calibrations for robot assisted needle biopsy |
| topic | robot-assisted ultrasound guided biopsy hand-eye calibration |
| url | https://www.mdpi.com/1424-8220/22/23/9465 |
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