Path Planning for Trajectory Guided Freehand Ultrasound Scan
Medical imaging plays a crucial role in medical diagnosis and analysis. 3D medical imaging provides more comprehensive and greater anatomical detail of internal body structures when compared to traditional 2D images, allowing for more accurate measurement of organ and tumor volume, and prediction an...
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| Format: | Thesis |
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Massachusetts Institute of Technology
2023
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| Online Access: | https://hdl.handle.net/1721.1/151941 https://orcid.org/0000-0002-0929-6923 |
| _version_ | 1826201019692875776 |
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| author | Lin, Qian |
| author2 | Anthony, Brian W. |
| author_facet | Anthony, Brian W. Lin, Qian |
| author_sort | Lin, Qian |
| collection | MIT |
| description | Medical imaging plays a crucial role in medical diagnosis and analysis. 3D medical imaging provides more comprehensive and greater anatomical detail of internal body structures when compared to traditional 2D images, allowing for more accurate measurement of organ and tumor volume, and prediction and monitoring of some disease progression. 3D medical images can be obtained through various imaging modalities, including magnetic resonance (MR), computed tomography (CT), and ultrasound (US). Among those modalities, freehand ultrasound is preferred for its cost-effectiveness, non-invasiveness, portability, safety, versatility, and real-time information.
However, the lack of information on the position and orientation of the ultrasound probe makes it challenging to obtain 3D images from 2D ultrasound slices. Without the expert knowledge, the user may not acquire precise images on the region of interest (RoI). To address this issue, we proposed a novel path planning framework that provides real-time guidance for freehand ultrasound and reconstructs 3D images in real-time. A low-cost RGB-D camera with IMU module is mounted on a regular ultrasound probe to estimate the spatial placement of the probe with respect to the RoI, and the acquired ultrasound images are analyzed and registered into 3D voxel grid. After the user performs initial scan, the system guides the user to find missing areas shaded by obstacles such as bones, resulting in more accurate, detailed, and efficient 3D ultrasound imaging. We validated our system on an ultrasound phantom and demonstrated its ability to investigate the area beneath the obstacle. Additionally, we developed a visualization system for real-time probe movement guidance and image display.
This study demonstrates the feasibility of implementing an online path planning approach with real-time guidance and high-attenuation area avoidance for freehand ultrasound scanning, even in scenarios where prior knowledge of the scanning area is not available. The proposed path planning system not only enhances the efficiency and precision of ultrasound imaging in clinical settings, but also facilitates the acquisition of high-quality 3D ultrasound images by non-expert users in a more convenient manner, potentially allowing for long-term health monitoring. |
| first_indexed | 2024-09-23T11:45:24Z |
| format | Thesis |
| id | mit-1721.1/151941 |
| institution | Massachusetts Institute of Technology |
| last_indexed | 2024-09-23T11:45:24Z |
| publishDate | 2023 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/1519412023-08-24T03:33:21Z Path Planning for Trajectory Guided Freehand Ultrasound Scan Lin, Qian Anthony, Brian W. Massachusetts Institute of Technology. Department of Mechanical Engineering Medical imaging plays a crucial role in medical diagnosis and analysis. 3D medical imaging provides more comprehensive and greater anatomical detail of internal body structures when compared to traditional 2D images, allowing for more accurate measurement of organ and tumor volume, and prediction and monitoring of some disease progression. 3D medical images can be obtained through various imaging modalities, including magnetic resonance (MR), computed tomography (CT), and ultrasound (US). Among those modalities, freehand ultrasound is preferred for its cost-effectiveness, non-invasiveness, portability, safety, versatility, and real-time information. However, the lack of information on the position and orientation of the ultrasound probe makes it challenging to obtain 3D images from 2D ultrasound slices. Without the expert knowledge, the user may not acquire precise images on the region of interest (RoI). To address this issue, we proposed a novel path planning framework that provides real-time guidance for freehand ultrasound and reconstructs 3D images in real-time. A low-cost RGB-D camera with IMU module is mounted on a regular ultrasound probe to estimate the spatial placement of the probe with respect to the RoI, and the acquired ultrasound images are analyzed and registered into 3D voxel grid. After the user performs initial scan, the system guides the user to find missing areas shaded by obstacles such as bones, resulting in more accurate, detailed, and efficient 3D ultrasound imaging. We validated our system on an ultrasound phantom and demonstrated its ability to investigate the area beneath the obstacle. Additionally, we developed a visualization system for real-time probe movement guidance and image display. This study demonstrates the feasibility of implementing an online path planning approach with real-time guidance and high-attenuation area avoidance for freehand ultrasound scanning, even in scenarios where prior knowledge of the scanning area is not available. The proposed path planning system not only enhances the efficiency and precision of ultrasound imaging in clinical settings, but also facilitates the acquisition of high-quality 3D ultrasound images by non-expert users in a more convenient manner, potentially allowing for long-term health monitoring. S.M. 2023-08-23T16:20:53Z 2023-08-23T16:20:53Z 2023-06 2023-07-19T18:45:25.725Z Thesis https://hdl.handle.net/1721.1/151941 https://orcid.org/0000-0002-0929-6923 In Copyright - Educational Use Permitted Copyright retained by author(s) https://rightsstatements.org/page/InC-EDU/1.0/ application/pdf Massachusetts Institute of Technology |
| spellingShingle | Lin, Qian Path Planning for Trajectory Guided Freehand Ultrasound Scan |
| title | Path Planning for Trajectory Guided Freehand Ultrasound Scan |
| title_full | Path Planning for Trajectory Guided Freehand Ultrasound Scan |
| title_fullStr | Path Planning for Trajectory Guided Freehand Ultrasound Scan |
| title_full_unstemmed | Path Planning for Trajectory Guided Freehand Ultrasound Scan |
| title_short | Path Planning for Trajectory Guided Freehand Ultrasound Scan |
| title_sort | path planning for trajectory guided freehand ultrasound scan |
| url | https://hdl.handle.net/1721.1/151941 https://orcid.org/0000-0002-0929-6923 |
| work_keys_str_mv | AT linqian pathplanningfortrajectoryguidedfreehandultrasoundscan |