Siamese Spatial Pyramid Matching Network with Location Prior for Anatomical Landmark Tracking in 3-Dimension Ultrasound Sequence

FPSN-FNCC: an accurate and fast motion tracking algorithm in 3D ultrasound for image-guided interventions

The uncertain motions of a target caused by the breath, heartbeat and body drift of a patient can increase the target locating error during image-guided interventions, and that may cause additional surgery trauma. A surgery navigation system with accurate motion tracking is important for improving the operation accuracy and reducing trauma. In this work, we propose an accurate and fast tracking algorithm in three-dimensional (3D) ultrasound (US) sequences for US-guided surgery to achieve moving object tracking. The idea of this algorithm is as follows. Firstly, feature pyramid architecture is introduced into a Siamese network to extract multiscale convolutional features. Secondly, to improve the network discriminative power and the robustness to ultrasonic noise and gain variation, we use the normalized cross correlation (NCC) to calculate the similarity between template block and search block. Thirdly, a fast NCC (FNCC) is proposed, which can perform the real-time tracking. Finally, a density peaks clustering approach is used to compensate the motion of the target and further improve the tracking accuracy. The proposed algorithm is evaluated on a CLUST dataset that includes 22 sets of 3D US sequences, and the mean error of 1.60±0.97 mm compared with manual annotations is obtained. After comparing with other published works, the results show that our algorithm achieves the comparable performance. The ablation study proves that the results benefit from the feature pyramid architecture and FNCC. These findings show that our algorithm may improve the motion tracking accuracy in image-guided interventions.

Tracking 3D ultrasound anatomical landmarks via three orthogonal plane-based scale discriminative correlation filter network

PURPOSE

In abdominal interventional therapy, accurate motion tracking of the target is regarded as crucial to minimize trauma and optimize dosage delivery. Meanwhile, three-dimensional (3D) ultrasound (US) is an attractive modality to show the real-time motion pattern of the target. In this work, we developed an accurate and robust landmark tracking algorithm for 3D US sequences.

METHODS

The proposed algorithm introduces a three orthogonal planes (TOPs) based scale discriminative correlation filter network for 3D US landmarks tracking. First, we couple the fully convolutional network (FCN) with scale discriminative correlation filter (SDCF) to generate an effective tracker. And SDCF is reformulated as a differentiable layer, which ensures the network can perform scale learning and end-to-end training. Next, we train the end-to-end network on millions of natural images. Finally, we convert 3D US image to 2D three-channel image by TOP transformation and feed them to the proposed network for performing online tracking.

RESULTS

Online tracking performance was evaluated on the Challenge of Liver Ultrasound Tracking (CLUST) dataset with 22 sets of 3D US sequences, obtaining mean error of 1.63 ± 1.04 mm and 95th percentile (95%ile) error of 3.37 mm, when compared with manual annotations annotated by surgeons. Ablation study indicates that the promising results benefit from SDCF and scale learning, which alleviates the influence from deformation. The findings of the clinical analysis support that the proposed algorithm can work well with different initial patch sizes, which means that our algorithm has potential to lighten the burden of surgeons.

CONCLUSIONS

We propose a flexible, accurate and robust landmark tracking algorithm for the image-guided interventions, and our algorithm is comparable with the state-of-the-art approaches. The tracking accuracy and robustness show that our algorithm has potential in 3D US-guided abdominal interventional therapies. Furthermore, more researches are needed to improve the computing speed of the algorithm to achieve real-time tracking.