南方科技大学知识苑(SUSTech KC): Tip estimation approach for concentric tube robots using 2D ultrasound images and kinematic model

题名	Tip estimation approach for concentric tube robots using 2D ultrasound images and kinematic model
作者	Li, Zihao 1; Yang, Xing 1; Song, Shuang 1; Liu, Li 2; Meng, Max Q. -H.3
通讯作者	Song, Shuang; Liu, Li
发表日期	2021-06-01
DOI	10.1007/s11517-021-02369-z
发表期刊	MEDICAL & BIOLOGICAL ENGINEERING & COMPUTING 影响因子和分区
ISSN	0140-0118
EISSN	1741-0444
卷号	59 期号:7-8页码:1461-1473
摘要	Concentric tube robot (CTR) is an efficient approach for minimally invasive surgery (MIS) and diagnosis due to its small size and high dexterity. To manipulate the robot accurately and safely inside the human body, tip position and shape information need to be well measured. In this paper, we propose a tip estimation method based on 2D ultrasound images with the help of the forward kinematic model of CTR. The forward kinematic model can help to provide a fast ultrasound scanning path and narrow the region of interest in ultrasound images. For each tube, only three scan positions are needed by combining the kinematic model prediction as prior knowledge. After that, the curve fitting method is used for its shape reconstruction, while its tip position can be estimated based on the constraints of its structure and length. 7 This method provides the advantage that only three scan positions are needed for estimating the tip of each telescoping section. Moreover, no structure modification is needed on the robot, which makes it an appropriate approach for existing flexible surgical robots. Experimental results verified the feasibility of the proposed method and the tip estimation error is 0.59 mm.
关键词	Tip estimation Concentric tube robot Ultrasound Image
相关链接	[来源记录]
收录类别	SCI ; EI
语种	英语
学校署名	其他
资助项目	National Natural Science Foundation of China[61803123] ; RGC NSFC/RGC Joint Research Scheme[CUHK-448/17] ; Natural Science Foundation of Guangdong[2018A -030310565]
WOS研究方向	Computer Science ; Engineering ; Mathematical & Computational Biology ; Medical Informatics
WOS类目	Computer Science, Interdisciplinary Applications ; Engineering, Biomedical ; Mathematical & Computational Biology ; Medical Informatics
WOS记录号	WOS:000664399400002
出版者	SPRINGER HEIDELBERG
EI入藏号	20213110697351
EI主题词	Curve fitting ; Image segmentation ; Kinematics ; Robotic surgery ; Robots ; Surgery ; Ultrasonics
EI分类号	Medicine and Pharmacology:461.6 ; Biomedical Equipment, General:462.1 ; Robotics:731.5 ; Ultrasonic Waves:753.1 ; Numerical Methods:921.6 ; Mechanics:931.1
ESI学科分类	ENGINEERING
来源库	Web of Science
引用统计	被引频次[WOS]：1
成果类型	期刊论文
条目标识符	http://sustech.caswiz.com/handle/2SGJ60CL/230062
专题	工学院_电子与电气工程系
作者单位	1.Harbin Inst Technol Shenzhen, Sch Mech Engn & Automat, Shenzhen 518055, Peoples R China 2.Chinese Univ Hong Kong, Dept Elect Engn, Hong Kong, Peoples R China 3.Southern Univ Sci & Technol, Dept Elect & Elect Engn, Shenzhen 518055, Peoples R China
推荐引用方式 GB/T 7714	Li, Zihao,Yang, Xing,Song, Shuang,et al. Tip estimation approach for concentric tube robots using 2D ultrasound images and kinematic model[J]. MEDICAL & BIOLOGICAL ENGINEERING & COMPUTING,2021,59(7-8):1461-1473.
APA	Li, Zihao,Yang, Xing,Song, Shuang,Liu, Li,&Meng, Max Q. -H..(2021).Tip estimation approach for concentric tube robots using 2D ultrasound images and kinematic model.MEDICAL & BIOLOGICAL ENGINEERING & COMPUTING,59(7-8),1461-1473.
MLA	Li, Zihao,et al."Tip estimation approach for concentric tube robots using 2D ultrasound images and kinematic model".MEDICAL & BIOLOGICAL ENGINEERING & COMPUTING 59.7-8(2021):1461-1473.