Prior Knowledge Snake Segmentation Of Ultrasound Images Denoised By J-Divergence Anisotropy Diffusion

BackgroundApplying transrectal ultrasound to robot-assisted laparoscopic radical prostatectomy has attracted attention in recent years, and it is considered as a proper method to provide real-time subsurface anatomic features. A precise registration between the ultrasound equipment and robotic surgical system is necessary, which usually requires a fast and accurate recognition of the registration tool in the ultrasound image.MethodsTissue forceps are chosen as the registration tool. J-divergence anisotropy diffusion and prior knowledge snake segmentation are proposed for the automatic recognition of forceps in ultrasound images.ResultsSimulation, gel tissue phantom experiments and in vitro experiments are carried out. Several evaluation indices are calculated to compare results under different methods.ConclusionsThe proposed methods are proved to be practicable, reliable and superior to existing ones, with reduced calculation time and higher accuracy.