2P1-G22 非侵襲超音波治療・診断システムのためのボリュームターゲット追従技術の開発

概要

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We present in this paper about a volumetric target tracking method by using intraoperative bi-plane US imaging and preoperative three-dimensional model. The algorithm composed of the step for boundary point extraction from US image and the step for registration of the preoperative model to the US images. In our registration method, these two steps ameliorate each other to decide the best position and orientation of the preoperative model in a few iterations. Phantom experiment was conducted to evaluate the registration algorithm over the iteration. In experiment, our method could register the preoperative model into the biplane intraoperative US image in about 30 iterations and with under 1 mm average error deviation. This method will be exploited in the future for the real-time tracking of our robotic theragnostic high intensity ultrasound (HIFU) system.