Recovery of respiratory motion and deformation of the liver using laparoscopic freehand 3D ultrasound system

Masahiko Nakamoto, Hiroaki Hirayama, Yoshinobu Sato, Kozo Konishi, Yoshihiro Kakeji, Makoto Hashizume, Shinichi Tamura

Research output: Contribution to journalArticlepeer-review

30 Citations (Scopus)


The present paper describes a method for intraoperative recovery of respiratory motion and deformation of the liver by using a laparoscopic freehand 3D ultrasound (US) system. The proposed method can extend 3D US data of the liver to 4D by acquiring additional several sequences of time-varying 2D US images during a couple of respiration cycles. 2D US images are acquired on several sagittal image planes and their time-varying 3D positions and orientations are measured using a miniature magnetic 3D position sensor attached to a laparoscopic US (LUS) probe. During the acquisition, the LUS probe is assumed to move together with hepatic surface. Respiratory phases and in-plane 2D deformation fields are estimated from time-varying 2D US images, and then time-varying 3D deformation fields on sagittal image planes are obtained by combining 3D positions and orientations of the image planes. Time-varying 3D deformation field of the volume, that is, 4D deformation field, is obtained by interpolating the 3D deformation fields estimated on several planes. In vivo experiments using a pig liver showed that the proposed method could perform accurate estimation of respiratory cycle and in-plane 2D deformation fields. Furthermore, evaluation for the effects of sagittal plane interval indicated that 4D deformation fields could be stably recovered.

Original languageEnglish
Pages (from-to)429-442
Number of pages14
JournalMedical Image Analysis
Issue number5
Publication statusPublished - Oct 2007

All Science Journal Classification (ASJC) codes

  • Radiological and Ultrasound Technology
  • Radiology Nuclear Medicine and imaging
  • Computer Vision and Pattern Recognition
  • Health Informatics
  • Computer Graphics and Computer-Aided Design


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