Spatial Circular Pattern Detection from 3D Volumetric Data in Image-Guided Interventional Systems

作者：Ren Hongliang^*

来源：Journal of Medical Imaging and Health Informatics, 2011, 1(2): 126-130.

DOI：10.1166/jmihi.2011.1023

• Decoupled Parameter Model
• Pattern Detection
• Image-Guided Interventional Systems (IGIS)
• Robotic Needle Steering

In Image-Guided Interventional (IGI) systems, the volumetric images not only provide better understanding of the temporal-spatial dynamics of anatomy structures, facilitate diagnostic or screening, but also enable the investigation of automated tracking and servoing capability for surgical robots. A class of arc or circular pattern needs to be identified for robotic needle or catheter steering, due to the use of flexible needles or pre-curved end-effectors. Towards the end of tracking arc end-effectors in IGI systems, this work investigates the key problem of spatial circular or arc pattern detection from volumetric images. We propose a 3D image preprocessing pipeline to extract the spatial object from noisy 3D images. In order to identify the parameters of spatial circles, we developed a decoupled two-stage estimation approach for plane detection and circular detection sequentially. Both theoretical analysis and proof-of-concept experiments are performed to evaluate the proposed approach.

• 出版日期2011-6