Author
Kaya, Mert, Şenel, Enes, Ahmad, Mirza Awais, Orhan, Orçun, Bebek, Özkan
Publication Date
2015
Publication Place
-
IEEE
Subject
Gabor filters, Biological tissues, Biomechanics, Biomedical ultrasonics, Deformation, Mean square error methods, Medical image processing, Medical robotics, Needles, Optical tracking, Patient treatment, Phantoms
Type
Document
Language
English
Digital
Yes
Manuscript
No
Library
Özyeğin University
Library Asset ID
978-1-4673-7509-2
Record ID
37e20f84-25fe-487b-9052-41abbbd9c0fb
Library Location
Mechanical Engineering
Date
2015
Notes
Due to copyright restrictions, the access to the full text of this article is only available via subscription.
Sample Text
In this paper, real-time needle tip tracking method using 2D ultrasound (US) images for robotic biopsies is presented. In this method, the needle tip is estimated with the Gabor filter based image processing algorithm, and the estimation noise is reduced with the Kalman filter. This paper also presents the needle tip tracking simulation to test accuracy of the Kalman filter under position misalignments and tissue deformations. In order to execute proposed method in real-time, the bin packing method is used and the processing time is reduced by 56%, without a GPU. The proposed method was tested in four different phantoms and water medium. The accuracy of the needle tip estimation was measured with optical tracking system, and root mean square error (RMS) of the tip position is found to be 1.17 mm. The experiments showed that the algorithm could track the needle tip in real-time.
DOI
10.1109/ICAR.2015.7251432
