Yongjian Zhao;Handi Deng;Xianghu Yu;Yisong Zhao;Ao Xu;Yuhan Chen;Cheng Ma;Li Liu
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引用次数: 0
摘要
本文介绍了一种机械臂辅助光声断层成像仪,它采用了直接视觉伺服支持的重新定位策略,旨在对外周动脉疾病(PAD)的进展进行可重复的监测。该系统可确保精确地重新定位相关血管的横截面位置,从而进行一致的测量,以跟踪 PAD 的进展和对治疗的反应。这一策略克服了因操作人员的差异而导致的在不同监测间隔获取同一血管横截面图像的困难。此外,获取高分辨率、高对比度的血管图像有助于清楚地描述血管的长期变化。为了评估所提出的实验配置和算法的有效性,我们在人体下肢血管上进行了两组血管模型实验和一组伺服成像实验。实验结果显示,三组网格分割比较的相似度均为 100%,而第一组的像素比较相似度为 99.3%,第二组为 97.4%,体内实验组为 98.9%。这些结果对于监测 PAD 的进展和预测心血管疾病的风险非常重要。
Robotic Repositioning of Photoacoustic Tomography for Reproducible Long-Term Monitoring of Peripheral Artery In Vivo
This paper presents a robotic arm assisted photoacoustic tomography imager that employs a direct visual servoing-enabled repositioning strategy designed for reproducible surveillance of peripheral arterial disease (PAD) progression. The system ensures precise repositioning of the cross-sectional location of the vessel of interest, allowing consistent measurements to track PAD progression and response to treatment. This strategy overcomes the difficulty of obtaining cross-sectional images of the same vessel at different monitoring intervals due to operator variability. In addition, the acquisition of high-resolution, high-contrast vessel images helps to clearly delineate long-term changes in the vasculature. To evaluate the effectiveness of the proposed experimental configurations and algorithms, we performed two sets of vascular phantom experiments and one set of servo-imaging experiments on human lower extremity vessels. The experimental results show 100% similarity for all three sets of grid segmentation comparisons, while the pixel-wise comparison similarity is 99.3% for the first set, 97.4% for the second set, and 98.9% for the in vivo experimental set. These results are important for monitoring the progression of PAD and predicting the risk of cardiovascular disease.