A Doppler and B-Mode Hybrid Ultrasound Tracking Method for Microcatheter Navigation in Noisy Environments

Moqiu Zhang, Lidong Yang, Haojin Yang, Lin Su, Li Zhang

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

Abstract

Robot-assisted ultrasound imaging provides a promising microrobot tracking method for biomedical tasks. However, noise artifacts such as interfaces or acoustic shadows have a direct influence on localization accuracy. This paper introduces a novel ultrasound tracking method that uses an ultrasound Doppler image-based noise filter and a template matching algorithm to accurately localize the microcatheter in Brightness mode(B-mode) images. We also propose a robot-assisted ultrasound imaging system that can switch between in-plane and out-of-plane tracking and provides 3D localization of the microcatheter in noisy environments. A magnetic microcatheter design that can generate strong Doppler signals and perform drug delivery is also presented. The tracking performance of the proposed system is experimentally verified both in a tissue-mimicking agarose phantom and an ex vivo phantom made of chicken breast. The proposed method can robustly navigate the microcatheter to the desired position in noisy environments. A blood clot clearance experiment is also demonstrated to verify the effectiveness of the microcatheter.

Original languageEnglish
Title of host publicationProceedings of MARSS 2022 - 5th International Conference on Manipulation, Automation, and Robotics at Small Scales
EditorsSinan Haliyo, Mokrane Boudaoud, Eric Diller, Xinyu Liu, Yu Sun, Sergej Fatikow
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781665459730
DOIs
Publication statusPublished - Jul 2022
Externally publishedYes
Event5th International Conference on Manipulation, Automation, and Robotics at Small Scales, MARSS 2022 - Toronto, Canada
Duration: 25 Jul 202229 Jul 2022

Publication series

NameProceedings of MARSS 2022 - 5th International Conference on Manipulation, Automation, and Robotics at Small Scales

Conference

Conference5th International Conference on Manipulation, Automation, and Robotics at Small Scales, MARSS 2022
Country/TerritoryCanada
CityToronto
Period25/07/2229/07/22

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Mechanical Engineering
  • Control and Optimization

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