TY - GEN
T1 - A Doppler and B-Mode Hybrid Ultrasound Tracking Method for Microcatheter Navigation in Noisy Environments
AU - Zhang, Moqiu
AU - Yang, Lidong
AU - Yang, Haojin
AU - Su, Lin
AU - Zhang, Li
N1 - Funding Information:
This work was supported by the Hong Kong RGC project JLFS/E-402/18 and E-CUHK401/20, the ITF project with Project No. MRP/036/18X, the Croucher Foundation Grant with Ref. No. CAS20403 and the CUHK internal grants. We thank the support from Multi-scale Medical Robotics Center (MRC), InnoHK at the Hong Kong Science Park, and the SIAT-CUHK Joint Laboratory of Robotics and Intelligent Systems. (Corresponding author: Li Zhang) 1M. Zhang, L. Yang, H. Yang and L. Su are with the Department of Mechanical and Automation Engineering, CUHK, Hong Kong (e-mail: [email protected]; [email protected]; [email protected]; [email protected]).
Publisher Copyright:
© 2022 IEEE.
PY - 2022/7
Y1 - 2022/7
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85139026855&partnerID=8YFLogxK
U2 - 10.1109/MARSS55884.2022.9870456
DO - 10.1109/MARSS55884.2022.9870456
M3 - Conference article published in proceeding or book
AN - SCOPUS:85139026855
T3 - Proceedings of MARSS 2022 - 5th International Conference on Manipulation, Automation, and Robotics at Small Scales
BT - Proceedings of MARSS 2022 - 5th International Conference on Manipulation, Automation, and Robotics at Small Scales
A2 - Haliyo, Sinan
A2 - Boudaoud, Mokrane
A2 - Diller, Eric
A2 - Liu, Xinyu
A2 - Sun, Yu
A2 - Fatikow, Sergej
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 5th International Conference on Manipulation, Automation, and Robotics at Small Scales, MARSS 2022
Y2 - 25 July 2022 through 29 July 2022
ER -