Autonomous virtual mobile robot for three-dimensional medical image exploration: application to micro-CT cochlear images

Artificial Intelligence in Medicine
Luca FerrariniFaiza Admiraal-Behloul

Abstract

In this paper, we present an autonomous virtual mobile robot (AVMR) for three-dimensional (3D) exploration of unknown tubular-like structures in 3D images. The trajectory planning for 3D central navigation is achieved by combining two neuro-fuzzy controllers, and is based on 3D sensory information; a Hough transform is used to locally fit a cylinder during the exploration, estimating the local radius of the tube. Nonholonomic constraints are applied to assure a smooth, continuous and unique final path. When applied to 3D medical images, the AVMR operates as a virtual endoscope, directly providing anatomical measurements of the organ. After a thorough validation on challenging synthetic environments, we applied our method to eight micro-CT datasets of cochleae. Validation on synthetic environments proved the robustness of our method, and highlighted key parameters for the design of the AVMR. When applied to the micro-CT datasets, the AVMR automatically estimated length and radius of the cochleae: results were compared to manual delineations, proving the accuracy of our approach. The AVMR presents several advantages when used as a virtual endoscope: the nonholonomic constraint guarantees a unique and smooth central path, which ca...Continue Reading

References

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Citations

Mar 21, 2016·International Journal of Computer Assisted Radiology and Surgery·G Jakob LexowThomas S Rau
Mar 7, 2012·IEEE Transactions on Pattern Analysis and Machine Intelligence·Ning ChenEric Poe Xing
May 19, 2010·IEEE Transactions on Pattern Analysis and Machine Intelligence·Nikos KomodakisGeorgios Tziritas
Mar 19, 2020·Proceedings of the Institution of Mechanical Engineers. Part H, Journal of Engineering in Medicine·Zuo WangKai Zhao

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