Ultrasound scanning is an efficient imaging modality preferred for quick medical procedures. However, due to the lack of skilled sonographers, researchers have developed many Robotic Ultrasound System (RUS) prototypes for various procedures. Most of these systems have a human-in-the-loop and require an expert to point the robot to the region of the subject to be scanned. Only a few systems try to incorporate some knowledge from the exterior shape of the subject for ultrasound scanning. Accurate 3D surface reconstruction of a patient's exterior can enable an RUS to perceive subjects more like a clinician would. It can help localize the subject for the robot while eliminating input from an expert. Ultrasound scanning trajectories can be better planned if the RUS first detects critical regions on the surface of the subject and corresponding curvatures. We use an RGB-D sensor to acquire point clouds representing the 3D surface of the subject, which in the present work is for a lower-torso leg phantom. A consolidated pipeline for creating an optimized 3D surface reconstruction of a subject is presented and is used to autonomously identify a region of interest for scanning femoral vessels with an ultrasound probe. To make our system more robust to inter-subject variations in shape and size, we incorporate a trajectory optimization module of the RUS-mounted RGB-D sensor. To this end, we introduce a comprehensive evaluation score to quantify the quality of point cloud reconstructions. The resulting improvements in 3D surface scanning and reconstruction enable near-automation in generating ultrasound scanning trajectories for femoral vessels. Our pipeline produces ultrasound images with an average ZNCC score of 0.86 and our 3D point cloud reconstructions are accurate up to le-5 m from a ground-truth high-resolution CT scan.

This paper presents a deep-learning model for deformable registration of ultrasound images at online rates, which we call U-RAFT. As its name suggests, U-RAFT is based on RAFT, a convolutional neural network for estimating optical flow. U-RAFT, however, can be trained in an unsupervised manner and can generate synthetic images for training vessel segmentation models. We propose and compare the registration quality of different loss functions for training U-RAFT. We also show how our approach, together with a robot performing force-controlled scans, can be used to generate synthetic deformed images to significantly expand the size of a femoral vessel segmentation training dataset without the need for additional manual labeling. We validate our approach on both a silicone human tissue phantom as well as on in-vivo porcine images. We show that U-RAFT generates synthetic ultrasound images with 98% and 81% structural similarity index measure (SSIM) to the real ultrasound images for the phantom and porcine datasets, respectively. We also demonstrate that synthetic deformed images from U-RAFT can be used as a data augmentation technique for vessel segmentation models to improve intersection-over-union (IoU) segmentation performance.

Ultrasound scanning is an imaging technique that aids medical professionals in diagnostics and interventional procedures. However, a trained human-in-the-loop (HITL) with a radiologist is required to perform the scanning procedure. We seek to create a novel ultrasound system that can provide imaging in the absence of a trained radiologist, say for patients in the field who suffered injuries after a natural disaster. One challenge of automating ultrasound scanning involves finding the optimal area to scan and then performing the actual scan. This task requires simultaneously maintaining contact with the surface while moving along it to capture high quality images. In this work, we present an automated Robotic Ultrasound System (RUS) to tackle these challenges. Our approach introduces a Bayesian Optimization framework to guide the probe to multiple points on the unknown surface. Our proposed framework collects the ultrasound images as well as the pose information at every probed point to estimate regions with high vessel density (information map) and the surface contour. Based on the information map and the surface contour, an area of interest is selected for scanning. Furthermore, to scan the proposed region, a novel 6-axis hybrid force-position controller is presented to ensure acoustic coupling. Lastly, we provide experimental results on two different phantom models to corroborate our approach.

We study the use of raw ultrasound waveforms, often referred to as the "Radio Frequency" (RF) data, for the semantic segmentation of ultrasound scans to carry out dense and diagnostic labeling. We present W-Net, a novel Convolution Neural Network (CNN) framework that employs the raw ultrasound waveforms in addition to the grey ultrasound image to semantically segment and label tissues for anatomical, pathological, or other diagnostic purposes. To the best of our knowledge, this is also the first deep-learning or CNN approach for segmentation that analyzes ultrasound raw RF data along with the grey image. We chose subcutaneous tissue (SubQ) segmentation as our initial clinical goal for dense segmentation since it has diverse intermixed tissues, is challenging to segment, and is an underrepresented research area. SubQ potential applications include plastic surgery, adipose stem-cell harvesting, lymphatic monitoring, and possibly detection/treatment of certain types of tumors. Unlike prior work, we seek to label every pixel in the image, without the use of a background class. A custom dataset consisting of hand-labeled images by an expert clinician and trainees are used for the experimentation, currently labeled into the following categories: skin, fat, fat fascia/stroma, muscle, and muscle fascia. We compared W-Net and attention variant of W-Net (AW-Net) with U-Net and Attention U-Net (AU-Net). Our novel W-Net's RF-Waveform encoding architecture outperformed regular U-Net and AU-Net, achieving the best mIoU accuracy (averaged across all tissue classes). We study the impact of RF data on dense labeling of the SubQ region, which is followed by the analyses of the generalization capability of the networks to patients and analysis on the SubQ tissue classes, determining that fascia tissues, especially muscle fascia in particular, are the most difficult anatomic class to recognize for both humans and AI algorithms. We present diagnostic semantic segmentation, which is semantic segmentation carried out for the purposes of direct diagnostic pixel labeling, and apply it to breast tumor detection task on a publicly available dataset to segment pixels into malignant tumor, benign tumor, and background tissue class. Using the segmented image we diagnose the patient by classifying the breast lesion as either benign or malignant. We demonstrate the diagnostic capability of RF data with the use of W-Net, which achieves the best segmentation scores across all classes.

Our novel skin-feature visual-tracking algorithm enables anatomic vSLAM and (by extension) localization of clinical tools relative to the patient’s body. Tracking naturally occurring features is challenging due to patient uniqueness, deformability, and lack of an accurate a-priori 3D geometric model. Our method (i) tracks skin features in a smartphone-camera video sequence, (ii) performs anatomic Simultaneous Localization And Mapping (SLAM) of camera motion relative to the patient’s 3D skin surface, and (iii) utilizes existing visual methods to track clinical tool(s) relative to the patient’s reconstructed 3D skin surface. (We demonstrate tracking of a simulated ultrasound probe relative to the patient by using an Apriltag visual fiducial). Our skin-feature tracking method utilizes the Fourier-Mellin Transform for robust performance, which we incorporated and extend an existing Phase Only Correlation (POC) based algorithm to be suitable for our application of free-hand smartphone video, wherein the distance of the camera fluctuates relative to the patient. Our SLAM approach further utilizes Structure from Motion and Bundle Adjustment to achieve an accurate 3D model of the human body with minimal drift-error in camera trajectory. We believe this to be the first freehand smartphone-camera tracking of natural skin features for anatomic tracking of surgical tools, ultrasound probe, etc.

This paper addresses the problem of freehand ultrasound probe tracking without requiring an external tracking device, by mounting a video camera on the probe to identify location relative to the patient's external anatomy. By pre-acquiring a high-resolution 3D surface map as an atlas of the anatomy, we eliminate the need for artificial skin markers. We use an OpenDR pipeline for inverse rendering and pose estimation via matching the real-time camera image with the 3D surface map. We have addressed the problem of distinguishing rotation from translation by including an inertial navigation system to accurately measure rotation. Experiments on both a phantom containing an image of human skin (palm) as well as actual human skin (fingers, palm, and wrist) validate the effectiveness of our approach. For ultrasound, this will permit the compilation of 3D ultrasound data as the probe is moved, as well as comparison of real-time ultrasound scans registered with previous scans from the same anatomical location. In a broader sense, tools that know where they are by looking at the patient's exterior could have broad beneficial impact on clinical medicine.