Calibration method for a breast intervention robot based on four-dimensional ultrasound image guidance

Abstract

AbstractIn breast interventional ultrasound therapy, it is difficult to directly diagnose the location of a tumor in 2-D ultrasound images. To assist surgeons in treatment more intuitively, a four-dimensional ultrasound image-guided breast intervention robot is proposed. The calibration approach of the ultrasonic image for the robot is one of the main contents of the research. This method is based on the establishment of a complete coordinate system conversion model, and it uses the ORB (oriented FAST and rotated BRIEF) feature extraction method to obtain and record the real-time image marker pixel positions, calculate the unknown parameters of the coordinate system conversion matrix, and establish a complete calibration system. This article demonstrates the feasibility of the calibration approach through experiments in our developed US-guided robotic system. Additional experimental and parametrical comparisons of the proposed method with state-of-the-art methods were conducted to thoroughly evaluate the outperformance of the proposed method.