GPU based real-time instrument tracking with three dimensional ultrasound.
Real-time 3D ultrasound can enable new image-guided surgical procedures, but high data rates prohibit the use of traditional tracking techniques. We present a new method based on the modified Radon transform that identifies the axis of instrument shafts as bright patterns in planar projections. Instrument rotation and tip location are then determined using fiducial markers. These techniques are amenable to rapid execution on the current generation of personal computer graphics processor units (GPU). Our GPU implementation detected a surgical instrument in 31 ms, sufficient for real-time tracking at the 26 volumes per second rate of the ultrasound machine. A water tank experiment found instrument tip position errors of less than 0.2 mm, and an in vivo study tracked an instrument inside a beating porcine heart. The tracking results showed good correspondence to the actual movements of the instrument.
Novotny
Paul M
PM
Division of Engineering and Applied Sciences, Harvard University, MA, USA.
Stoll
Jeffrey A
JA
Vasilyev
Nikolay V
NV
del Nido
Pedro J
PJ
Dupont
Pierre E
PE
Howe
Robert D
RD
D000818:Animals; D013504:Cardiovascular Surgical Procedures / Q000295:instrumentation* / Q000379:methods; D003199:Computer Systems; D019560:Echocardiography, Three-Dimensional / Q000295:instrumentation* / Q000379:methods*; D004867:Equipment Design; D019544:Equipment Failure Analysis; D019047:Phantoms, Imaging; D015203:Reproducibility of Results; D012680:Sensitivity and Specificity; D012815:Signal Processing, Computer-Assisted / Q000295:instrumentation*; D025321:Surgery, Computer-Assisted / Q000295:instrumentation / Q000379:methods*; D013525:Surgical Instruments; D013552:Swine; D018084:Ultrasonography, Interventional / Q000295:instrumentation / Q000379:methods*