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Navigating in Patient Space Using Camera Pose Estimation Relative to the External Anatomy

Wang, Jihang (2017) Navigating in Patient Space Using Camera Pose Estimation Relative to the External Anatomy. Doctoral Dissertation, University of Pittsburgh. (Unpublished)

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Ultrasound probe localization is essential for volumetric imaging with a 2D ultrasound probe, and for establishing a recorded anatomical context for ultrasound-guided surgery and for longitudinal studies. The existing techniques for probe localization, however, require external tracking devices, making them inconvenient for clinical use. In addition, the probe pose is typically measured with respect to a fixed coordinate system independent of the patient’s anatomy, making it difficult to correlate ultrasound studies across time.

This dissertation concerns the development and evaluation of a novel self-contained ultrasound probe tracking system, which navigates the probe in patient space using camera pose estimation relative to the anatomical context. As the probe moves in patient space, a video camera on the probe is used to automatically identify natural skin features and subdermal cues, and match them with a pre-acquiring high-resolution 3D surface map that serves as an atlas of the anatomy. We have addressed the problem of distinguishing rotation from translation by including an inertial navigation system (INS) to accurately measure rotation. Experiments on both a phantom containing an image of human skin (palm) as well as actual human upper extremity (fingers, palm, and wrist) validate the effectiveness of our approach.

We have also developed a real-time 3D interactive visualization system that superimposes the ultrasound data within the anatomical context of the exterior of the patient, to permit accurate anatomic localization of ultrasound data. The combination of the proposed tracking approach and the visualization system may have broad implications for ultrasound imaging, permitting the compilation of volumetric ultrasound data as the 2D probe is moved, as well as comparison of real-time ultrasound scans registered with previous scans from the same anatomical location. In a broader sense, tools that self-locate by viewing the patient’s exterior could have broad beneficial impact on clinical medicine.


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Item Type: University of Pittsburgh ETD
Status: Unpublished
CreatorsEmailPitt UsernameORCID
Wang, Jihangjiw86@pitt.edujiw86
ETD Committee:
TitleMemberEmail AddressPitt UsernameORCID
Committee ChairStetten,
Committee CoChairGaleotti,
Committee MemberKovacevic,
Committee MemberAizenstein,
Date: 1 February 2017
Date Type: Publication
Defense Date: 29 November 2016
Approval Date: 1 February 2017
Submission Date: 15 November 2016
Access Restriction: No restriction; Release the ETD for access worldwide immediately.
Number of Pages: 125
Institution: University of Pittsburgh
Schools and Programs: Swanson School of Engineering > Bioengineering
Degree: PhD - Doctor of Philosophy
Thesis Type: Doctoral Dissertation
Refereed: Yes
Uncontrolled Keywords: ultrasound, tracking, anatomical coordinates, computer vision, guidance, ProbeSight.
Date Deposited: 01 Feb 2017 19:05
Last Modified: 02 Feb 2017 06:15


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