Ultrasound-guided navigation toolkit (Plus)

Tracked ultrasound calibration

Significant research has been dedicated to using US in a quantitative manner. Toward this goal, the main problems are to assemble individual 2D US images into 3D volumes and then to relate the position of surgical tools with respect to the reconstructed US volume. Solution of both problems requires tracking the 2D US probe in 3D space with respect to a stationary frame of reference. Typically, tracking is achieved by rigidly attaching 3D localizers to the US probe. The missing link, however, is the spatial transformation between the US image pixels and the tracking body attached to the US probe, which requires calibration. Hence, calibration is ubiquitously present in all systems where 2D ultrasound is used for quantitative image guidance. Clearly, the accuracy of calibration is the most significant factor in the accuracy of these systems.

Project Participants

Tamas Haidegger

Zachary Baum

Karilee Whiteway

David Gobbi

Jonathan Boisvert

Amelie Meyer

Marie Soehl

Ryan Walsh

Guillermo Carbajal

Adam Rankin

Thomas Vaughan

Alexis Boucharin

Csaba Pinter

Eric Moult

Thomas Kuiran Chen

Laura Bartha

Tamas Ungi

Mohammad Peikari

Gabor Fichtinger

Tamas Heffter

Andras Lasso

Related Publications

In Press
Hu, Z., Fauerbach P. V. Nasute, Yeung C., Ungi T., Rudan J., C. Engel J., et al. (In Press). Real-time automatic tumor segmentation for ultrasound-guided breast-conserving surgery navigation. International Journal of Computer Assisted Radiology and Surgery. DOI Google Scholar BibTeX

2021
Poole, M., Ungi T., Fichtinger G., & Zevin B. (2021). Training in soft tissue resection using real-time visual computer navigation feedback from the Surgery Tutor: A randomized controlled trial. Surgery. DOI Google Scholar BibTeX

2020
Gauvin, G., Yeo C. T., Ungi T., Merchant S., Lasso A., Jabs D., et al. (2020). Real‐time electromagnetic navigation for breast‐conserving surgery using NaviKnife technology: A matched case‐control study. The Breast Journal. 26, 399-405. DOI Google Scholar BibTeX

2019
Baum, Z. M. C., Church B., Lasso A., Ungi T., Schlenger C., Borschneck D. P., et al. (2019). Step-wise identification of ultrasound-visible anatomical landmarks for 3D visualization of scoliotic spine. SPIE Medical Imaging 2019: Image-Guided Procedures, Robotic Interventions, and Modeling. 10951, Google Scholar BibTeX Baum2019a.pdf (496 KB)
Lund, S., Vaughan T., Ungi T., Lasso A., Asselin M., Yeo C., et al. (2019). Controlling virtual views in navigated breast conserving surgery. SPIE Medical Imaging 2019. Google Scholar BibTeX

2018
Baum, Z. M. C., Ungi T., Lasso A., Church B., Schlenger C., & Fichtinger G. (2018). Visual aid for identifying vertebral landmarks in ultrasound. SPIE Medical Imaging 2018: Image-Guided Procedures, Robotic Interventions, and Modeling. 10576, 105760Z. DOI Google Scholar BibTeX Baum2018a.pdf (1.46 MB)
Baum, Z. M. C., Ungi T., Lasso A., Church B., Schlenger C., & Fichtinger G. (2018). Ultrasound-based vertebral landmark localization using deformable spine models. 16th Annual Imaging Network Ontario Symposiuim. Google Scholar BibTeX Baum2018b.pdf (1.03 MB) Baum2018b-Poster.pdf (961.09 KB)
Pinter, C., Travers B., Baum Z. M. C., Ungi T., Lasso A., Church B., et al. (2018). Real-time transverse process delineation in tracked ultrasound for scoliosis measurement. Imaging Network Ontario Symposium (ImNO 2018). Google Scholar BibTeX Pinter2018a.pdf (125.23 KB)
Pinter, C., Travers B., Baum Z. M. C., Kamali S., Ungi T., Lasso A., et al. (2018). Real-time transverse process detection in ultrasound. SPIE Medical Imaging 2018: Image-Guided Procedures, Robotic Interventions, and Modeling. Google Scholar BibTeX Pinter2018.pdf (297.47 KB)

2017
Bibic, E., Baum Z. M. C., Harish V., Ungi T., Lasso A., & Fichtinger G. (2017). PLUS Model Catalog: A library of 3D-printable models. 15th Annual Imaging Network Ontario Symposiuim. Google Scholar BibTeX Bibic2017a.pdf (256.64 KB) Bibic2017a-Poster.pptx (6.07 MB)
Moult, E., Lasso A., Ungi T., Pinter C., Welch M., & Fichtinger G. (2017). Improved temporal calibration of tracked ultrasound: an open-source solution. Journal of Medical Robotics Research. 2, 1750008. Google Scholar BibTeX Moult2017.pdf (640.92 KB)

2016
Ungi, T., Lasso A., & Fichtinger G. (2016). Open-source platforms for navigated image-guided interventions. Medical Image Analysis. 33, 181-6. DOI Google Scholar BibTeX Ungi2016a.pdf (868.77 KB)
Ungi, T., Vaughan T., Gauvin G., Pezeshki P., Lasso A., C. Engel J., et al. (2016). Intraoperative user interface for navigated breast tumor surgery. Computer Assisted Radiology and Surgery, 30th International Congress. 11(Suppl. 1), S108-9. DOI Google Scholar BibTeX Ungi2016c.pdf (137.38 KB)
Gauvin, G., Ungi T., Lasso A., Walker R., Rudan J., Fichtinger G., et al. (2016). Safety and Feasibility Study for Real-Time Electromagnetic Navigation in Breast-Conserving Surgery. Computer Assisted Radiology and Surgery, 30th International Congress. 11(Suppl. 1), S106-7. DOI Google Scholar BibTeX Gauvin2016a.pdf (492.77 KB)

2015
Meyer, A., Lasso A., Ungi T., & Fichtinger G. (2015). Live ultrasound volume reconstruction using scout scanning. SPIE Medical Imaging 2015. 9415, 94152A-94152A-9. DOI Google Scholar BibTeX Meyer2015-manuscript.pdf (617.98 KB)
Harish, V., Ungi T., Lasso A., MacDonald A., Nanji S., & Fichtinger G. (2015). Intraoperative visualization and assessment of electromagnetic tracking error. SPIE Medical Imaging 2015. 9415, 94152H-94152H-6. DOI Google Scholar BibTeX Harish2015-manuscript.pdf (5.7 MB) Harish2015-poster.pdf (897.74 KB)
Soehl, M., Holden M., Lasso A., & Fichtinger G. (2015). Scalable Ultrasound Calibration Phantoms Made From LEGO® Bricks. Computer Assisted Radiology and Surgery, 29th International Congress and Exhibition. 10(Supplement 1), S218-S219. DOI Google Scholar BibTeX Soehl2015a-Abstract.pdf (195.18 KB) Soehl2015a-Poster.ppt (766.5 KB)
Keri, Z., Sydor D., Ungi T., Holden M., McGraw R. C., Mousavi P., et al. (2015). Computerized training system for ultrasound-guided lumbar puncture on abnormal spine models: a randomized controlled trial. Canadian Journal of Anesthesia. 62, 777-784. Google Scholar BibTeX Keri2015a.pdf (1.65 MB)
Ungi, T., Gauvin G., Yeo C. T., C. Engel J., Rudan J., & Fichtinger G. (2015). Real Time Navigation In Breast Tumor Surgery. Computer Assisted Radiology and Surgery, 29th International Congress. 10(Suppl 1), S59-60. DOI Google Scholar BibTeX Ungi2015a.pdf (123.39 KB)
Ungi, T., Gauvin G., Lasso A., Yeo C. T., Pezeshki P., Vaughan T., et al. (2015). Navigated breast tumor excision using electromagnetically tracked ultrasound and surgical instruments. IEEE Transactions on Biomedical Engineering. DOI Google Scholar BibTeX Ungi2015b.pdf (567.29 KB)
Carbajal, G., Gómez Á., Fichtinger G., & Ungi T. (2015). Portable Optically Tracked Ultrasound System for Scoliosis Measurement. Recent Advances in Computational Methods and Clinical Applications for Spine Imaging (MICCAI 2014). 20, 37-46. DOI Google Scholar BibTeX Carbajal2015.pdf (209.38 KB)

2014
Gauvin, G., Yeo C. T., Ungi T., Fichtinger G., Nanji S., Rudan J., et al. (2014). Real-time EM navigated breast conserving surgery: phantom and cadaver experiments. Seventh Image Guided Therapy Workshop (MICCAI). Google Scholar BibTeX
Gauvin, G., Yeo C. T., Ungi T., Fichtinger G., Rudan J., & C. Engel J. (2014). Real-time electromagnetic navigation for breast tumor resection: proof of concept. The Hamlyn Symposium on Medical Robotics. 39-40. Google Scholar BibTeX
Ungi, T., Beiko D., Fuoco M., King F., Holden M., Fichtinger G., et al. (2014). Tracked ultrasonography snapshots enhance needle guidance for percutaneous renal access: a pilot study. J Endourol. 28, 1040-5. Google Scholar BibTeX Ungi2014b.pdf (533.29 KB)
Lasso, A., Heffter T., Rankin A., Pinter C., Ungi T., & Fichtinger G. (2014). PLUS: Open-source toolkit for ultrasound-guided intervention systems. IEEE Transactions on Biomedical Engineering. 61, 2527-2537. DOI Google Scholar BibTeX Lasso2014a-manuscript.pdf (1.24 MB)
Walsh, R., Soehl M., Rankin A., Lasso A., & Fichtinger G. (2014). Design of a tracked ultrasound calibration phantom made of LEGO bricks. SPIE Medical ImagingMedical Imaging 2014: Image-Guided Procedures, Robotic Interventions, and Modeling. 9036, 90362C. DOI Google Scholar BibTeX
Soehl, M., Walsh R., Rankin A., Lasso A., & Fichtinger G. (2014). Tracked ultrasound calibration studies with a phantom made of LEGO(r) bricks. SPIE Medical Imaging 2014. 9036, 90362R. DOI Google Scholar BibTeX Soehl2014-manuscript.pdf (378.21 KB)
Fichtinger, G., Siemens R., Holden M., Ungi T., Beiko D., Fuoco M., et al. (2014). Tracked ultrasound snapshots improve the performance of novices in simulated percutaneous nephrostomy. Imaging Network Ontario Symposium. Google Scholar BibTeX
Soehl, M., Walsh R., Rankin A., Lasso A., & Fichtinger G. (2014). Tracked ultrasound calibration studies with a phantom made of LEGO® bricks. 12th Annual Imaging Network Ontario Symposium. Google Scholar BibTeX Soehl2014a-manuscript.pdf (223.24 KB)
Ungi, T., Lasso A., & Fichtinger G. (2014). Tracked Ultrasound in Navigated Spine Interventions. Spinal Imaging and Image Analysis. 469-94. DOI Google Scholar BibTeX Ungi2014c.pdf (870.53 KB)

2013
Bartha, L., Lasso A., Pinter C., Ungi T., & Fichtinger G. (2013). The Perk Tutor Training Platform Integrated with Simulated Ultrasound. 6th NCIGT and NIH Image Guided Therapy Workshop. Google Scholar BibTeX Bartha2013.pdf (708.53 KB)
Lasso, A., Ungi T., Pinter C., Heffter T., Rankin A., & Fichtinger G. (2013). Prototyping Clinical Applications with the Public Library for Ultrasound (PLUS) Toolkit and 3D Slicer. 6th Image Guided Therapy Workshop. 6, 34. Google Scholar BibTeX Lasso2013a.pdf (2.92 MB)
Fedorov, A., Lasso A., Moradi M., Song S-E., Neubauer E., Owen R., et al. (2013). Towards Open Source Infrastructure for Joint MRI/TRUS Guided Prostate Interventions. 6th Image Guided Therapy Workshop. 6, 67. Google Scholar BibTeX Fedorov2013.pdf (2.2 MB)
Ogilvie, C., Martin C., Law T., Vandersleen P., Pinter C., Rankin A., et al. (2013). Automated Brachytherapy Calibration: System and Phantom Design. ImNO2013 - Imaging Network Ontario Symposium. Google Scholar BibTeX Ogilvie2013.pdf (91.51 KB) Ogilvie2013-poster.pdf (399.14 KB)
Welch, M., Andrea J., Ungi T., & Fichtinger G. (2013). Freehand ultrasound calibration: phantom versus tracked pointer. SPIE. Google Scholar BibTeX Welch2013b.pdf (416.73 KB)
Bartha, L., Lasso A., Pinter C., Ungi T., & Fichtinger G. (2013). Open Source Ultrasound Simulation Using Surface Meshes. ImNO2013 - Imaging Network Ontario Symposium. Google Scholar BibTeX
Moult, E., Ungi T., Pinter C., Welch M., Lasso A., & Fichtinger G. (2013). Temporal calibration of tracked ultrasound. ImNO2013 - Imaging Network Ontario Symposium. Google Scholar BibTeX Moult2013b.pdf (100.25 KB) Moult2013b-poster.pdf (202.31 KB)
Carbajal, G., Lasso A., Gómez Á., & Fichtinger G. (2013). Improving N-Wire Phantom-based Freehand Ultrasound Calibration. CARS 2013. Google Scholar BibTeX Carbajal2013b.pdf (37.21 KB)
Carbajal, G., Lasso A., Gómez Á., & Fichtinger G. (2013). Improving N-Wire Phantom-based Freehand Ultrasound Calibration. IJCARS. 8, 1063-1072. DOI Google Scholar BibTeX Carbajal2013c-manuscript.pdf (894.95 KB)
Bartha, L., Lasso A., Pinter C., Ungi T., & Fichtinger G. (2013). Open-Source Surface Mesh-Based Ultrasound Simulator. CARS 2013. 8, 156. Google Scholar BibTeX Bartha2013c.pdf (107.52 KB)
Bartha, L., Lasso A., Pinter C., Ungi T., Keri Z., & Fichtinger G. (2013). Open-source surface mesh-based ultrasound-guided spinal intervention simulator. International Journal of Computer Assisted Radiology and Surgery. 8, 1043-51. DOI Google Scholar BibTeX Bartha2013b.pdf (663.26 KB)

2012
Lasso, A., Heffter T., Pinter C., Ungi T., & Fichtinger G. (2012). Implementation of the PLUS open-source toolkit for translational research of ultrasound-guided intervention systems. Medical Image Computing and Computer-Assisted Intervention (MICCAI 2012) - Systems and Architectures for Computer Assisted Interventions. 1-12. Google Scholar BibTeX Lasso2012d.pdf (182.24 KB) Lasso2012d-slides.pdf (182.24 KB)
Lasso, A., & Fichtinger G. (2012). Real-time data acquisition for cardiovascular research. Cardiac Tissue Characterization and Image-Based Models. Google Scholar BibTeX Lasso2012c.pdf (17.34 KB) Lasso2012c-slides.pdf (909.46 KB)
Lasso, A., Heffter T., Pinter C., Ungi T., Chen T. K., Boucharin A., et al. (2012). PLUS: An open-source toolkit for ultrasound-guided intervention systems development. ImNO2012 - Imaging Network Ontario Symposium. Google Scholar BibTeX Lasso2012a.pdf (183.65 KB)
Peikari, M., Chen T. K., Lasso A., Heffter T., E. Burdette C., & Fichtinger G. (2012). Characterization of ultrasound elevation beamwidth artifacts for prostate brachytherapy needle insertion. Medical Physics. 39, 246-256. DOI Google Scholar BibTeX MPeikari2012.pdf (2.23 MB)

2011
Chen, T. K., Heffter T., Lasso A., Pinter C., Abolmaesumi P., E. Burdette C., et al. (2011). Automated Intraoperative Calibration for Prostate Cancer Brachytherapy. Medical Physics. 38, 6285-6299. DOI Google Scholar BibTeX Chen2011.pdf (1.81 MB)
Lasso, A., Heffter T., Pinter C., Ungi T., Chen T. K., Boucharin A., et al. (2011). PLUS: An open-source toolkit for developing ultrasound-guided intervention systems. 4th NCIGT and NIH Image Guided Therapy Workshop. 4, 103. Google Scholar BibTeX Lasso2011c.pdf (251.69 KB) Lasso2011c-poster.pdf (786.61 KB)
Peikari, M., Chen T. K., Fichtinger G., & E. Burdette C. (2011). Section-Thickness Profiling for Brachytherapy Ultrasound Guidance. SPIE Medical Imaging. 7964, 79640R. DOI Google Scholar BibTeX Peikari-SPIE2011.pdf (3.59 MB)
Peikari, M., Chen T. K., Lasso A., Heffter T., & Fichtinger G. (2011). Effects of Ultrasound Section-Thickness on Brachytherapy Needle Tip Localization Error. Medical Image Computing and Computer-Assisted Intervention (MICCAI 2011). Google Scholar BibTeX MPeikari2011a.pdf (760.49 KB)

2010
Grzeda, V., & Fichtinger G. (2010). C-arm rotation encoding with accelerometers. International Journal of Computer Assisted Radiation and Surgery. 5, 385-391. DOI Google Scholar BibTeX Grzeda2010a.pdf (511.39 KB)
Grzeda, V., & Fichtinger G. (2010). Rotational Encoding of C-arm Fluoroscope with Tilt Sensing Accelerometer. Medical Image Computing and Computer-Assisted Intervention (MICCAI) 2010. 424-431. Google Scholar BibTeX Grzeda2010.pdf (382.55 KB)

2007
Rivaz, H., Boctor E., & Fichtinger G. (2007). A robust meshing and calibration approach for sensorless freehand 3D ultrasound. Medical Imaging 2007: Ultrasonic Imaging and Signal Processing. 6513, 651318. DOI Google Scholar BibTeX Rivaz2007a.pdf (451.04 KB)

2005
Kon, R., Leven J., Kothapalli K., Boctor E., Fichtinger G., Hager G. D., et al. (2005). CIS-UltraCal: an open-source ultrasound calibration toolkit. Medical Imaging 2005: Ultrasonic Imaging and Signal Processing. 5750, 516-523. DOI Google Scholar BibTeX Kon2005.pdf (200.67 KB)

2004
Viswanathan, A., Boctor E., Taylor R. H., Hager G. D., & Fichtinger G. (2004). Immediate Ultrasound Calibration from Three Poses and Minimal Image Processing. Proceedings in Lecture Notes in Computer Science Medical Image Computing and Computer-Assisted Intervention (MICCAI). 3217, 446-454. Google Scholar BibTeX Viswanathan2004.pdf (526.25 KB)