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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

Institucijski repozitorij: Repozitorij Fakulteta strojarstva i brodogradnje Sveučilišta u Zagrebu

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Šuligoj, F., Heunis, C. M., Mohanty, S. i 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, br. 12, 2022, str. 3739-3747. https://doi.org/10.1109/TBME.2022.3176746

Šuligoj, Filip, Christoff M. Heunis, Sumit Mohanty i Sarthak Misra. "Intravascular Tracking of Micro-Agents Using Medical Ultrasound: Towards Clinical Applications." IEEE Transactions on Biomedical Engineering 69, br. 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), str. 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]. 12.2022. [pristupljeno 11.12.2024.];69(12):3739-3747. doi: 10.1109/TBME.2022.3176746

F. Šuligoj, C. M. Heunis, S. Mohanty i S. Misra, "Intravascular Tracking of Micro-Agents Using Medical Ultrasound: Towards Clinical Applications", IEEE Transactions on Biomedical Engineering, vol. 69, br. 12, str. 3739-3747, Prosinac 2022. [Online]. Dostupno na: https://urn.nsk.hr/urn:nbn:hr:235:162155. [Citirano: 11.12.2024.]

Za citiranje koristite ovu mrežnu adresu: https://urn.nsk.hr/urn:nbn:hr:235:162155
Podaci o radu
Naslov (engleski)Intravascular Tracking of Micro-Agents Using Medical Ultrasound: Towards Clinical Applications
AutorFilip Šuligoj
AutorChristoff M. Heunis
AutorSumit Mohanty
AutorSarthak Misra
Autorova ustanovaSveučilište u Zagrebu
Fakultet strojarstva i brodogradnje
Znanstveno / umjetničko
područje, polje i grana		TEHNIČKE ZNANOSTI
Strojarstvo
Opće strojarstvo (konstrukcije)
Sažetak (engleski)
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.
Ključne riječi (engleski)
Jezikengleski
Vrsta publikacijeZnanstveni rad - Izvorni znanstveni rad
Status objaveObjavljen
Vrsta recenzijeRecenziran - međunarodna recenzija
Verzija publikacijeObjavljena verzija rada (izdavačev PDF)
Naslov časopisaIEEE Transactions on Biomedical Engineering
Brojčani podacivol. 69, br. 12, str. 3739-3747
p-ISSN0018-9294
e-ISSN1558-2531
DOIhttps://doi.org/10.1109/TBME.2022.3176746
URN:NBNurn:nbn:hr:235:162155
Datum objave publikacije2022-12
URL dokumentahttps://ieeexplore.ieee.org/document/9780008/
Vrsta resursaTekst
Prava pristupaOtvoreni pristup
Uvjeti korištenjaIkona licence Zaštićeno autorskim pravom.
Datum i vrijeme pohrane2024-07-09 07:01:30