prikaz prve stranice dokumenta Intravascular Tracking of Micro-Agents Using Medical Ultrasound: Towards Clinical Applications
  Download
PDF 2.94 MB
Scientific paper - Original scientific paper
Intravascular Tracking of Micro-Agents Using Medical Ultrasound: Towards Clinical Applications
IEEE Transactions on Biomedical Engineering, 69 (2022), 12; 3739-3747. https://doi.org/10.1109/TBME.2022.3176746
Šuligoj, Filip; Heunis, Christoff M.; Mohanty, Sumit; Misra, Sarthak

Institutional repository: Repository of Faculty of Mechanical Engineering and Naval Architecture University of Zagreb

Cite this document

Šuligoj, F., Heunis, C. M., Mohanty, S. & Misra, S. (2022). Intravascular Tracking of Micro-Agents Using Medical Ultrasound: Towards Clinical Applications. IEEE Transactions on Biomedical Engineering, 69. (12), 3739-3747. doi: 10.1109/TBME.2022.3176746

Šuligoj, Filip, et al. "Intravascular Tracking of Micro-Agents Using Medical Ultrasound: Towards Clinical Applications." IEEE Transactions on Biomedical Engineering, vol. 69, no. 12, 2022, pp. 3739-3747. https://doi.org/10.1109/TBME.2022.3176746

Šuligoj, Filip, Christoff M. Heunis, Sumit Mohanty and Sarthak Misra. "Intravascular Tracking of Micro-Agents Using Medical Ultrasound: Towards Clinical Applications." IEEE Transactions on Biomedical Engineering 69, no. 12 (2022): 3739-3747. https://doi.org/10.1109/TBME.2022.3176746

Šuligoj, F., et al. (2022) 'Intravascular Tracking of Micro-Agents Using Medical Ultrasound: Towards Clinical Applications', IEEE Transactions on Biomedical Engineering, 69(12), pp. 3739-3747. doi: 10.1109/TBME.2022.3176746

Šuligoj F, Heunis CM, Mohanty S, Misra S. Intravascular Tracking of Micro-Agents Using Medical Ultrasound: Towards Clinical Applications. IEEE Transactions on Biomedical Engineering [Internet]. 2022 December [cited 2024 December 26];69(12):3739-3747. doi: 10.1109/TBME.2022.3176746

F. Šuligoj, C. M. Heunis, S. Mohanty and S. Misra, "Intravascular Tracking of Micro-Agents Using Medical Ultrasound: Towards Clinical Applications", IEEE Transactions on Biomedical Engineering, vol. 69, no. 12, pp. 3739-3747, December 2022. [Online]. Available at: https://urn.nsk.hr/urn:nbn:hr:235:162155. [Accessed: 26 December 2024]

Metadata
Title (english)Intravascular Tracking of Micro-Agents Using Medical Ultrasound: Towards Clinical Applications
AuthorFilip Šuligoj
AuthorChristoff M. Heunis
AuthorSumit Mohanty
AuthorSarthak Misra
Author's institutionUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
General Mechanical Engineering (Construction)
Abstract (english)
Abstract—Objective: This study demonstrates intravascular micro-agent visualization by utilizing robotic ultrasound-based tracking and visual servoing in clinically-relevant scenarios. Methods: Visual servoing path is planned intraoperatively using a body surface point cloud acquired with a 3D camera and the vessel reconstructed from ultrasound (US) images, where both the camera and the US probe are attached to the robot endeffector. Developed machine vision algorithms are used for detection of micro-agents from minimal size of 250m inside the vessel contour and tracking with error recovery. Finally, real-time positions of the micro-agents are used for servoing of the robot with the attached US probe. Constant contact between the US probe and the surface of the body is accomplished by means of impedance control. Results: Breathing motion is compensated to keep constant contact between the US probe and the body surface, with minimal measured force of 2.02N. Anthropomorphic phantom vessels are segmented with an Intersection- Over-Union (IOU) score of 0.930.05, while micro-agent tracking is performed with up to 99.8% success rate at 28-36 frames per second. Path planning, tracking and visual servoing are realized over 80mm and 120mm long surface paths. Conclusion: Experiments performed using anthropomorphic surfaces, biological tissue, simulation of physiological movement and simulation of fluid flow through the vessels indicate that robust visualization and tracking of micro-agents involving human patients is an achievable goal.
Keywords (english)
Languageenglish
Publication typeScientific paper - Original scientific paper
Publication statusPublished
Peer reviewPeer review - international
Publication versionPublished version
Journal titleIEEE Transactions on Biomedical Engineering
Numberingvol. 69, no. 12, pp. 3739-3747
p-ISSN0018-9294
e-ISSN1558-2531
DOIhttps://doi.org/10.1109/TBME.2022.3176746
URN:NBNurn:nbn:hr:235:162155
Publication2022-12
Document URLhttps://ieeexplore.ieee.org/document/9780008/
Type of resourceText
Access conditionsOpen access
Terms of useLicence In copyright icon
Created on2024-07-09 07:01:30