Abstract
Ultrasound computed tomography (USCT) offers quantitative anatomical tissue characterization for cancer detection. While most research and commercial development has focused on submerging target anatomy in a transducer-lined cylindrical water tank, this is not practical for imaging deep anatomy and an alternative approach using aligned abdominal and endoluminal ultrasound probes is required. This work outlines and validates a clinical workflow and real-time motion framework for a novel dual-robotic approach specific to in vivo prostate imaging: one arm wielding a linear abdominal probe, the other wielding a linear transrectal ultrasound (TRUS) probe. After calibration, the robotic system works to keep the abdominal probe collinear with the physician-rotated TRUS probe using a convex contour tracking scheme, while also enforcing its gentle contact with the patient’s pubic region to capture the ultrasound slices needed for limited-angle tomographic reconstruction. The repeatable and accurate robotic system presents feasibility for prostate USCT and future malignancy diagnosis and staging in vivo.
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Gilboy, K.M., Wu, Y., Wood, B.J., Boctor, E.M., Taylor, R.H. (2020). Dual-Robotic Ultrasound System for In Vivo Prostate Tomography. In: Hu, Y., et al. Medical Ultrasound, and Preterm, Perinatal and Paediatric Image Analysis. ASMUS PIPPI 2020 2020. Lecture Notes in Computer Science(), vol 12437. Springer, Cham. https://doi.org/10.1007/978-3-030-60334-2_16
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DOI: https://doi.org/10.1007/978-3-030-60334-2_16
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