Ultrasound Image Overlay onto Endoscopic Image by Fusing 2D-3D Tracking of Laparoscopic Ultrasound Probe

摘要

In laparoscopic surgery, to identify the location of lesions and blood vessels inside organs, an ultrasound probe which can be inserted through small incision is used. However, since surgeons must observe the laparoscopic and ultrasound images both at the same time, it is difficult to understand the correspondence between the ultrasound image and real space. Therefore, to recognize the correspondence between these two images intuitively, we developed a system for overlaying ultrasound image on the laparoscopic image. Since the tip of the probe is flexed freely, we acquired the probe tip position and orientation using a method for detecting the probe angle from laparoscopic image and information obtained from optical tracking sensor. As a result of an experiment using a wire phantom, overlaying error of ultrasound images was found to be 0.97 mm. Furthermore, the rate of probe angle detection was evaluated through an animal experiment to be 83.1%.