The Experts below are selected from a list of 159 Experts worldwide ranked by ideXlab platform
Yoshinobu Sato - One of the best experts on this subject based on the ideXlab platform.
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realtime organ tracking for endoscopic augmented reality visualization using miniature wireless Magnetic Tracker
international conference on Medical Imaging and Augmented Reality, 2008Co-Authors: Masahiko Nakamoto, Osamu Ukimura, Inderbir S Gill, A Mahadevan, Tsuneharu Miki, Makoto Hashizume, Yoshinobu SatoAbstract:Organ motion is one of the problems on augmented reality (AR) visualization for endoscopic surgical navigation system. However, the conventional optical and Magnetic Trackers are not suitable for tracking of internal organ motion. Recently, a wireless Magnetic Tracker, which is called the Calypso 4-D localization system has been developed. Since the sensor of the Calypso system is miniature and implantable, position of the internal organ can be measured directly. This paper describes AR system using the Calypso system and preliminary experiments to evaluate the AR system. We evaluated distortion error caused by the surgical instruments and misalignment error of superimposition. Results of the experiments shows potential feasibility and usefulness of AR visualization of moving organ using the Calypso system.
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intraoperative Magnetic Tracker calibration using a magneto optic hybrid Tracker for 3 d ultrasound based navigation in laparoscopic surgery
IEEE Transactions on Medical Imaging, 2008Co-Authors: Masahiko Nakamoto, Makoto Hashizume, Yoshinobu Sato, Kazuhisa Nakada, Kozo Konishi, Shinichi TamuraAbstract:This paper describes a ultrasound (3D US) system that aims to achieve augmented reality (AR) visualization during laparoscopic surgery, especially for the liver. To acquire 3D US data of the liver, the tip of a laparoscopic ultrasound probe is tracked inside the abdominal cavity using a Magnetic Tracker. The accuracy of Magnetic Trackers, however, is greatly affected by Magnetic field distortion that results from the close proximity of metal objects and electronic equipment, which is usually unavoidable in the operating room. In this paper, we describe a calibration method for intraoperative Magnetic distortion that can be applied to laparoscopic 3D US data acquisition; we evaluate the accuracy and feasibility of the method by in vitro and in vivo experiments. Although calibration data can be acquired freehand using a magneto-optic hybrid Tracker, there are two problems associated with this method - error caused by the time delay between measurements of the optical and Magnetic Trackers, and instability of the calibration accuracy that results from the uniformity and density of calibration data. A temporal calibration procedure is developed to estimate the time delay, which is then integrated into the calibration, and a distortion model is formulated by zeroth-degree to fourth-degree polynomial fitting to the calibration data. In the in vivo experiment using a pig, the positional error caused by Magnetic distortion was reduced from 44.1 to 2.9 mm. The standard deviation of corrected target positions was less than 1.0 mm. Freehand acquisition of calibration data was performed smoothly using a magneto-optic hybrid sampling tool through a trocar under guidance by realtime 3-D monitoring of the tool trajectory; data acquisition time was less than 2 min. The present study suggests that our proposed method could correct for Magnetic field distortion inside the patient's abdomen during a laparoscopic procedure within a clinically permissible period of time, as well as enabling an accurate 3D US reconstruction to be obtained that can be superimposed onto live endoscopic images.
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a rapid method for Magnetic Tracker calibration using a magneto optic hybrid Tracker
Medical Image Computing and Computer-Assisted Intervention, 2003Co-Authors: Kazuhisa Nakada, Masahiko Nakamoto, Makoto Hashizume, Yoshinobu Sato, Kozo Konishi, Shinichi TamuraAbstract:ElectroMagnetic Trackers are greatly affected by Magnetic field distortion resulting from metal objects and electronic equipment in close proximity. In this paper, we propose a rapid method for Magnetic Tracker calibration using a magneto-optic hybrid Tracker. Although the calibration data can be acquired by freehand using the hybrid Tracker, two problems arise as a result of freehand acquisition. One is the error caused by the time delay between the measurements of optical and Magnetic Trackers. The other is the inconsistency of calibration accuracy resulting from variations on uniformity and density of the freehand acquisition of calibration data. To overcome the problem of error, we developed a temporal calibration procedure to estimate the time delay and apply it accordingly. For the problem of inconsistent calibration accuracy, we formulated a distortion model selection method using a cross-validation technique with five distortion models obtained by 0-th to 4-th degree polynomial fitting to the calibration data. We experimentally evaluated the method in a setting affected by an actual operating table. By combining the temporal calibration and model selection methods, the error caused by the Magnetic distortion was reduced from around 40 mm to less than 2 mm, and 30 seconds were needed to obtain the calibration data for a 200 × 200 × 20 mm3 volume.
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MICCAI (2) - A Rapid Method for Magnetic Tracker Calibration Using a Magneto-Optic Hybrid Tracker
Lecture Notes in Computer Science, 2003Co-Authors: Kazuhisa Nakada, Masahiko Nakamoto, Makoto Hashizume, Yoshinobu Sato, Kozo Konishi, Shinichi TamuraAbstract:ElectroMagnetic Trackers are greatly affected by Magnetic field distortion resulting from metal objects and electronic equipment in close proximity. In this paper, we propose a rapid method for Magnetic Tracker calibration using a magneto-optic hybrid Tracker. Although the calibration data can be acquired by freehand using the hybrid Tracker, two problems arise as a result of freehand acquisition. One is the error caused by the time delay between the measurements of optical and Magnetic Trackers. The other is the inconsistency of calibration accuracy resulting from variations on uniformity and density of the freehand acquisition of calibration data. To overcome the problem of error, we developed a temporal calibration procedure to estimate the time delay and apply it accordingly. For the problem of inconsistent calibration accuracy, we formulated a distortion model selection method using a cross-validation technique with five distortion models obtained by 0-th to 4-th degree polynomial fitting to the calibration data. We experimentally evaluated the method in a setting affected by an actual operating table. By combining the temporal calibration and model selection methods, the error caused by the Magnetic distortion was reduced from around 40 mm to less than 2 mm, and 30 seconds were needed to obtain the calibration data for a 200 × 200 × 20 mm3 volume.
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MIAR - Realtime Organ Tracking for Endoscopic Augmented Reality Visualization Using Miniature Wireless Magnetic Tracker
Lecture Notes in Computer Science, 1Co-Authors: Masahiko Nakamoto, Osamu Ukimura, Inderbir S Gill, A Mahadevan, Tsuneharu Miki, Makoto Hashizume, Yoshinobu SatoAbstract:Organ motion is one of the problems on augmented reality (AR) visualization for endoscopic surgical navigation system. However, the conventional optical and Magnetic Trackers are not suitable for tracking of internal organ motion. Recently, a wireless Magnetic Tracker, which is called the Calypso 4-D localization system has been developed. Since the sensor of the Calypso system is miniature and implantable, position of the internal organ can be measured directly. This paper describes AR system using the Calypso system and preliminary experiments to evaluate the AR system. We evaluated distortion error caused by the surgical instruments and misalignment error of superimposition. Results of the experiments shows potential feasibility and usefulness of AR visualization of moving organ using the Calypso system.
Masahiko Nakamoto - One of the best experts on this subject based on the ideXlab platform.
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realtime organ tracking for endoscopic augmented reality visualization using miniature wireless Magnetic Tracker
international conference on Medical Imaging and Augmented Reality, 2008Co-Authors: Masahiko Nakamoto, Osamu Ukimura, Inderbir S Gill, A Mahadevan, Tsuneharu Miki, Makoto Hashizume, Yoshinobu SatoAbstract:Organ motion is one of the problems on augmented reality (AR) visualization for endoscopic surgical navigation system. However, the conventional optical and Magnetic Trackers are not suitable for tracking of internal organ motion. Recently, a wireless Magnetic Tracker, which is called the Calypso 4-D localization system has been developed. Since the sensor of the Calypso system is miniature and implantable, position of the internal organ can be measured directly. This paper describes AR system using the Calypso system and preliminary experiments to evaluate the AR system. We evaluated distortion error caused by the surgical instruments and misalignment error of superimposition. Results of the experiments shows potential feasibility and usefulness of AR visualization of moving organ using the Calypso system.
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intraoperative Magnetic Tracker calibration using a magneto optic hybrid Tracker for 3 d ultrasound based navigation in laparoscopic surgery
IEEE Transactions on Medical Imaging, 2008Co-Authors: Masahiko Nakamoto, Makoto Hashizume, Yoshinobu Sato, Kazuhisa Nakada, Kozo Konishi, Shinichi TamuraAbstract:This paper describes a ultrasound (3D US) system that aims to achieve augmented reality (AR) visualization during laparoscopic surgery, especially for the liver. To acquire 3D US data of the liver, the tip of a laparoscopic ultrasound probe is tracked inside the abdominal cavity using a Magnetic Tracker. The accuracy of Magnetic Trackers, however, is greatly affected by Magnetic field distortion that results from the close proximity of metal objects and electronic equipment, which is usually unavoidable in the operating room. In this paper, we describe a calibration method for intraoperative Magnetic distortion that can be applied to laparoscopic 3D US data acquisition; we evaluate the accuracy and feasibility of the method by in vitro and in vivo experiments. Although calibration data can be acquired freehand using a magneto-optic hybrid Tracker, there are two problems associated with this method - error caused by the time delay between measurements of the optical and Magnetic Trackers, and instability of the calibration accuracy that results from the uniformity and density of calibration data. A temporal calibration procedure is developed to estimate the time delay, which is then integrated into the calibration, and a distortion model is formulated by zeroth-degree to fourth-degree polynomial fitting to the calibration data. In the in vivo experiment using a pig, the positional error caused by Magnetic distortion was reduced from 44.1 to 2.9 mm. The standard deviation of corrected target positions was less than 1.0 mm. Freehand acquisition of calibration data was performed smoothly using a magneto-optic hybrid sampling tool through a trocar under guidance by realtime 3-D monitoring of the tool trajectory; data acquisition time was less than 2 min. The present study suggests that our proposed method could correct for Magnetic field distortion inside the patient's abdomen during a laparoscopic procedure within a clinically permissible period of time, as well as enabling an accurate 3D US reconstruction to be obtained that can be superimposed onto live endoscopic images.
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a rapid method for Magnetic Tracker calibration using a magneto optic hybrid Tracker
Medical Image Computing and Computer-Assisted Intervention, 2003Co-Authors: Kazuhisa Nakada, Masahiko Nakamoto, Makoto Hashizume, Yoshinobu Sato, Kozo Konishi, Shinichi TamuraAbstract:ElectroMagnetic Trackers are greatly affected by Magnetic field distortion resulting from metal objects and electronic equipment in close proximity. In this paper, we propose a rapid method for Magnetic Tracker calibration using a magneto-optic hybrid Tracker. Although the calibration data can be acquired by freehand using the hybrid Tracker, two problems arise as a result of freehand acquisition. One is the error caused by the time delay between the measurements of optical and Magnetic Trackers. The other is the inconsistency of calibration accuracy resulting from variations on uniformity and density of the freehand acquisition of calibration data. To overcome the problem of error, we developed a temporal calibration procedure to estimate the time delay and apply it accordingly. For the problem of inconsistent calibration accuracy, we formulated a distortion model selection method using a cross-validation technique with five distortion models obtained by 0-th to 4-th degree polynomial fitting to the calibration data. We experimentally evaluated the method in a setting affected by an actual operating table. By combining the temporal calibration and model selection methods, the error caused by the Magnetic distortion was reduced from around 40 mm to less than 2 mm, and 30 seconds were needed to obtain the calibration data for a 200 × 200 × 20 mm3 volume.
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MICCAI (2) - A Rapid Method for Magnetic Tracker Calibration Using a Magneto-Optic Hybrid Tracker
Lecture Notes in Computer Science, 2003Co-Authors: Kazuhisa Nakada, Masahiko Nakamoto, Makoto Hashizume, Yoshinobu Sato, Kozo Konishi, Shinichi TamuraAbstract:ElectroMagnetic Trackers are greatly affected by Magnetic field distortion resulting from metal objects and electronic equipment in close proximity. In this paper, we propose a rapid method for Magnetic Tracker calibration using a magneto-optic hybrid Tracker. Although the calibration data can be acquired by freehand using the hybrid Tracker, two problems arise as a result of freehand acquisition. One is the error caused by the time delay between the measurements of optical and Magnetic Trackers. The other is the inconsistency of calibration accuracy resulting from variations on uniformity and density of the freehand acquisition of calibration data. To overcome the problem of error, we developed a temporal calibration procedure to estimate the time delay and apply it accordingly. For the problem of inconsistent calibration accuracy, we formulated a distortion model selection method using a cross-validation technique with five distortion models obtained by 0-th to 4-th degree polynomial fitting to the calibration data. We experimentally evaluated the method in a setting affected by an actual operating table. By combining the temporal calibration and model selection methods, the error caused by the Magnetic distortion was reduced from around 40 mm to less than 2 mm, and 30 seconds were needed to obtain the calibration data for a 200 × 200 × 20 mm3 volume.
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MIAR - Realtime Organ Tracking for Endoscopic Augmented Reality Visualization Using Miniature Wireless Magnetic Tracker
Lecture Notes in Computer Science, 1Co-Authors: Masahiko Nakamoto, Osamu Ukimura, Inderbir S Gill, A Mahadevan, Tsuneharu Miki, Makoto Hashizume, Yoshinobu SatoAbstract:Organ motion is one of the problems on augmented reality (AR) visualization for endoscopic surgical navigation system. However, the conventional optical and Magnetic Trackers are not suitable for tracking of internal organ motion. Recently, a wireless Magnetic Tracker, which is called the Calypso 4-D localization system has been developed. Since the sensor of the Calypso system is miniature and implantable, position of the internal organ can be measured directly. This paper describes AR system using the Calypso system and preliminary experiments to evaluate the AR system. We evaluated distortion error caused by the surgical instruments and misalignment error of superimposition. Results of the experiments shows potential feasibility and usefulness of AR visualization of moving organ using the Calypso system.
Kiyohito Yamamoto - One of the best experts on this subject based on the ideXlab platform.
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In vitro three-dimensional aortic vasculature modeling based on sensor fusion between intravascular ultrasound and Magnetic Tracker
The international journal of medical robotics + computer assisted surgery : MRCAS, 2012Co-Authors: Chaoyang Shi, Carlos Tercero, Seiichi Ikeda, Toshio Fukuda, Kimihiro Komori, Katsutoshi Ooe, Kiyohito YamamotoAbstract:Background It is desirable to reduce aortic stent graft installation time and the amount of contrast media used for this process. Guidance with augmented reality can achieve this by facilitating alignment of the stent graft with the renal and mesenteric arteries. Methods For this purpose, a sensor fusion is proposed between intravascular ultrasound (IVUS) and Magnetic Trackers to construct three-dimensional virtual reality models of the blood vessels, as well as improvements to the gradient vector flow snake for boundary detection in ultrasound images. In vitro vasculature imaging experiments were done with hybrid probe and silicone models of the vasculature. Results The dispersion of samples for the Magnetic Tracker in the hybrid probe increased less than 1 mm when the IVUS was activated. Three-dimensional models of the descending thoracic aorta, with cross-section radius average error of 0.94 mm, were built from the data fusion. Conclusion The development of this technology will enable reduction in the amount of contrast media required for in vivo and real-time three-dimensional blood vessel imaging. Copyright © 2012 John Wiley & Sons, Ltd.
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in vitro three dimensional vasculature modeling based on sensor fusion between intravascular ultrasound and Magnetic Tracker
Intelligent Robots and Systems, 2011Co-Authors: Chaoyang Shi, Carlos Tercero, Seiichi Ikeda, Toshio Fukuda, Kimihiro Komori, Kiyohito YamamotoAbstract:This paper presents a sensor fusion between intravascular ultrasound (IVUS) and Magnetic Trackers for constructing the virtual reality three dimensional models of the blood vessels. We propose this approach for vasculature modeling as part of a guidance system relying on augmented reality for assistance during aortic stent graft deploy. This guidance will facilitate the alignment of the holes on the stent graft walls with the renal and mesenteric arteries ramifications. First we studied the disturbances on the Magnetic Tracker measurements induced by IVUS emitter after assembling the two sensors together. Then we performed a scan with the hybrid probe inside a blood silicone model submerged into a water tank, captured and fused data from both sensors. The dispersion of samples increased less than 1mm in the evaluated locations while the IVUS was activated. This enabled the construction of a three-dimensional model in virtual reality of the blood vessel model relying on the sensor fusion.
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IROS - In-vitro three dimensional vasculature modeling based on sensor fusion between intravascular ultrasound and Magnetic Tracker
2011 IEEE RSJ International Conference on Intelligent Robots and Systems, 2011Co-Authors: Chaoyang Shi, Carlos Tercero, Seiichi Ikeda, Toshio Fukuda, Kimihiro Komori, Kiyohito YamamotoAbstract:This paper presents a sensor fusion between intravascular ultrasound (IVUS) and Magnetic Trackers for constructing the virtual reality three dimensional models of the blood vessels. We propose this approach for vasculature modeling as part of a guidance system relying on augmented reality for assistance during aortic stent graft deploy. This guidance will facilitate the alignment of the holes on the stent graft walls with the renal and mesenteric arteries ramifications. First we studied the disturbances on the Magnetic Tracker measurements induced by IVUS emitter after assembling the two sensors together. Then we performed a scan with the hybrid probe inside a blood silicone model submerged into a water tank, captured and fused data from both sensors. The dispersion of samples increased less than 1mm in the evaluated locations while the IVUS was activated. This enabled the construction of a three-dimensional model in virtual reality of the blood vessel model relying on the sensor fusion.
Makoto Hashizume - One of the best experts on this subject based on the ideXlab platform.
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realtime organ tracking for endoscopic augmented reality visualization using miniature wireless Magnetic Tracker
international conference on Medical Imaging and Augmented Reality, 2008Co-Authors: Masahiko Nakamoto, Osamu Ukimura, Inderbir S Gill, A Mahadevan, Tsuneharu Miki, Makoto Hashizume, Yoshinobu SatoAbstract:Organ motion is one of the problems on augmented reality (AR) visualization for endoscopic surgical navigation system. However, the conventional optical and Magnetic Trackers are not suitable for tracking of internal organ motion. Recently, a wireless Magnetic Tracker, which is called the Calypso 4-D localization system has been developed. Since the sensor of the Calypso system is miniature and implantable, position of the internal organ can be measured directly. This paper describes AR system using the Calypso system and preliminary experiments to evaluate the AR system. We evaluated distortion error caused by the surgical instruments and misalignment error of superimposition. Results of the experiments shows potential feasibility and usefulness of AR visualization of moving organ using the Calypso system.
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intraoperative Magnetic Tracker calibration using a magneto optic hybrid Tracker for 3 d ultrasound based navigation in laparoscopic surgery
IEEE Transactions on Medical Imaging, 2008Co-Authors: Masahiko Nakamoto, Makoto Hashizume, Yoshinobu Sato, Kazuhisa Nakada, Kozo Konishi, Shinichi TamuraAbstract:This paper describes a ultrasound (3D US) system that aims to achieve augmented reality (AR) visualization during laparoscopic surgery, especially for the liver. To acquire 3D US data of the liver, the tip of a laparoscopic ultrasound probe is tracked inside the abdominal cavity using a Magnetic Tracker. The accuracy of Magnetic Trackers, however, is greatly affected by Magnetic field distortion that results from the close proximity of metal objects and electronic equipment, which is usually unavoidable in the operating room. In this paper, we describe a calibration method for intraoperative Magnetic distortion that can be applied to laparoscopic 3D US data acquisition; we evaluate the accuracy and feasibility of the method by in vitro and in vivo experiments. Although calibration data can be acquired freehand using a magneto-optic hybrid Tracker, there are two problems associated with this method - error caused by the time delay between measurements of the optical and Magnetic Trackers, and instability of the calibration accuracy that results from the uniformity and density of calibration data. A temporal calibration procedure is developed to estimate the time delay, which is then integrated into the calibration, and a distortion model is formulated by zeroth-degree to fourth-degree polynomial fitting to the calibration data. In the in vivo experiment using a pig, the positional error caused by Magnetic distortion was reduced from 44.1 to 2.9 mm. The standard deviation of corrected target positions was less than 1.0 mm. Freehand acquisition of calibration data was performed smoothly using a magneto-optic hybrid sampling tool through a trocar under guidance by realtime 3-D monitoring of the tool trajectory; data acquisition time was less than 2 min. The present study suggests that our proposed method could correct for Magnetic field distortion inside the patient's abdomen during a laparoscopic procedure within a clinically permissible period of time, as well as enabling an accurate 3D US reconstruction to be obtained that can be superimposed onto live endoscopic images.
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a rapid method for Magnetic Tracker calibration using a magneto optic hybrid Tracker
Medical Image Computing and Computer-Assisted Intervention, 2003Co-Authors: Kazuhisa Nakada, Masahiko Nakamoto, Makoto Hashizume, Yoshinobu Sato, Kozo Konishi, Shinichi TamuraAbstract:ElectroMagnetic Trackers are greatly affected by Magnetic field distortion resulting from metal objects and electronic equipment in close proximity. In this paper, we propose a rapid method for Magnetic Tracker calibration using a magneto-optic hybrid Tracker. Although the calibration data can be acquired by freehand using the hybrid Tracker, two problems arise as a result of freehand acquisition. One is the error caused by the time delay between the measurements of optical and Magnetic Trackers. The other is the inconsistency of calibration accuracy resulting from variations on uniformity and density of the freehand acquisition of calibration data. To overcome the problem of error, we developed a temporal calibration procedure to estimate the time delay and apply it accordingly. For the problem of inconsistent calibration accuracy, we formulated a distortion model selection method using a cross-validation technique with five distortion models obtained by 0-th to 4-th degree polynomial fitting to the calibration data. We experimentally evaluated the method in a setting affected by an actual operating table. By combining the temporal calibration and model selection methods, the error caused by the Magnetic distortion was reduced from around 40 mm to less than 2 mm, and 30 seconds were needed to obtain the calibration data for a 200 × 200 × 20 mm3 volume.
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MICCAI (2) - A Rapid Method for Magnetic Tracker Calibration Using a Magneto-Optic Hybrid Tracker
Lecture Notes in Computer Science, 2003Co-Authors: Kazuhisa Nakada, Masahiko Nakamoto, Makoto Hashizume, Yoshinobu Sato, Kozo Konishi, Shinichi TamuraAbstract:ElectroMagnetic Trackers are greatly affected by Magnetic field distortion resulting from metal objects and electronic equipment in close proximity. In this paper, we propose a rapid method for Magnetic Tracker calibration using a magneto-optic hybrid Tracker. Although the calibration data can be acquired by freehand using the hybrid Tracker, two problems arise as a result of freehand acquisition. One is the error caused by the time delay between the measurements of optical and Magnetic Trackers. The other is the inconsistency of calibration accuracy resulting from variations on uniformity and density of the freehand acquisition of calibration data. To overcome the problem of error, we developed a temporal calibration procedure to estimate the time delay and apply it accordingly. For the problem of inconsistent calibration accuracy, we formulated a distortion model selection method using a cross-validation technique with five distortion models obtained by 0-th to 4-th degree polynomial fitting to the calibration data. We experimentally evaluated the method in a setting affected by an actual operating table. By combining the temporal calibration and model selection methods, the error caused by the Magnetic distortion was reduced from around 40 mm to less than 2 mm, and 30 seconds were needed to obtain the calibration data for a 200 × 200 × 20 mm3 volume.
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MIAR - Realtime Organ Tracking for Endoscopic Augmented Reality Visualization Using Miniature Wireless Magnetic Tracker
Lecture Notes in Computer Science, 1Co-Authors: Masahiko Nakamoto, Osamu Ukimura, Inderbir S Gill, A Mahadevan, Tsuneharu Miki, Makoto Hashizume, Yoshinobu SatoAbstract:Organ motion is one of the problems on augmented reality (AR) visualization for endoscopic surgical navigation system. However, the conventional optical and Magnetic Trackers are not suitable for tracking of internal organ motion. Recently, a wireless Magnetic Tracker, which is called the Calypso 4-D localization system has been developed. Since the sensor of the Calypso system is miniature and implantable, position of the internal organ can be measured directly. This paper describes AR system using the Calypso system and preliminary experiments to evaluate the AR system. We evaluated distortion error caused by the surgical instruments and misalignment error of superimposition. Results of the experiments shows potential feasibility and usefulness of AR visualization of moving organ using the Calypso system.
Chaoyang Shi - One of the best experts on this subject based on the ideXlab platform.
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In vitro three-dimensional aortic vasculature modeling based on sensor fusion between intravascular ultrasound and Magnetic Tracker
The international journal of medical robotics + computer assisted surgery : MRCAS, 2012Co-Authors: Chaoyang Shi, Carlos Tercero, Seiichi Ikeda, Toshio Fukuda, Kimihiro Komori, Katsutoshi Ooe, Kiyohito YamamotoAbstract:Background It is desirable to reduce aortic stent graft installation time and the amount of contrast media used for this process. Guidance with augmented reality can achieve this by facilitating alignment of the stent graft with the renal and mesenteric arteries. Methods For this purpose, a sensor fusion is proposed between intravascular ultrasound (IVUS) and Magnetic Trackers to construct three-dimensional virtual reality models of the blood vessels, as well as improvements to the gradient vector flow snake for boundary detection in ultrasound images. In vitro vasculature imaging experiments were done with hybrid probe and silicone models of the vasculature. Results The dispersion of samples for the Magnetic Tracker in the hybrid probe increased less than 1 mm when the IVUS was activated. Three-dimensional models of the descending thoracic aorta, with cross-section radius average error of 0.94 mm, were built from the data fusion. Conclusion The development of this technology will enable reduction in the amount of contrast media required for in vivo and real-time three-dimensional blood vessel imaging. Copyright © 2012 John Wiley & Sons, Ltd.
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in vitro three dimensional vasculature modeling based on sensor fusion between intravascular ultrasound and Magnetic Tracker
Intelligent Robots and Systems, 2011Co-Authors: Chaoyang Shi, Carlos Tercero, Seiichi Ikeda, Toshio Fukuda, Kimihiro Komori, Kiyohito YamamotoAbstract:This paper presents a sensor fusion between intravascular ultrasound (IVUS) and Magnetic Trackers for constructing the virtual reality three dimensional models of the blood vessels. We propose this approach for vasculature modeling as part of a guidance system relying on augmented reality for assistance during aortic stent graft deploy. This guidance will facilitate the alignment of the holes on the stent graft walls with the renal and mesenteric arteries ramifications. First we studied the disturbances on the Magnetic Tracker measurements induced by IVUS emitter after assembling the two sensors together. Then we performed a scan with the hybrid probe inside a blood silicone model submerged into a water tank, captured and fused data from both sensors. The dispersion of samples increased less than 1mm in the evaluated locations while the IVUS was activated. This enabled the construction of a three-dimensional model in virtual reality of the blood vessel model relying on the sensor fusion.
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IROS - In-vitro three dimensional vasculature modeling based on sensor fusion between intravascular ultrasound and Magnetic Tracker
2011 IEEE RSJ International Conference on Intelligent Robots and Systems, 2011Co-Authors: Chaoyang Shi, Carlos Tercero, Seiichi Ikeda, Toshio Fukuda, Kimihiro Komori, Kiyohito YamamotoAbstract:This paper presents a sensor fusion between intravascular ultrasound (IVUS) and Magnetic Trackers for constructing the virtual reality three dimensional models of the blood vessels. We propose this approach for vasculature modeling as part of a guidance system relying on augmented reality for assistance during aortic stent graft deploy. This guidance will facilitate the alignment of the holes on the stent graft walls with the renal and mesenteric arteries ramifications. First we studied the disturbances on the Magnetic Tracker measurements induced by IVUS emitter after assembling the two sensors together. Then we performed a scan with the hybrid probe inside a blood silicone model submerged into a water tank, captured and fused data from both sensors. The dispersion of samples increased less than 1mm in the evaluated locations while the IVUS was activated. This enabled the construction of a three-dimensional model in virtual reality of the blood vessel model relying on the sensor fusion.