3D Reconstruction of the Kidney and Lesions from 2D Ultrasound Images Using Robotic Ultrasound Diagnostic System.

This study presents an innovative approach based on the Robotic Ultrasound Diagnostic System (RUDS) for 3D reconstruction of organs and lesions from sequential 2D ultrasound slices. The RUDS comprises four main components: the Organ Tracking Robot (OTR) for multi-angle probe scanning, the Phantom Posture Robot (PPR) for optimizing probe contact with the abdomen, the Robotic Bed (RB), and the Robotic Supporting Arm (RSA). Leveraging the high flexibility and degrees of freedom in probe manipulation, the OTR controls probe rotation to capture and process continuous 2D slices, enabling precise 3D reconstruction of the kidney and associated lesions. By adjusting scanning speed and contact angles and analyzing spatial relationships within the 3D models, RUDS demonstrates superior accuracy in 3D modeling, supporting preoperative planning in High-Intensity Focused Ultrasound (HIFU) and minimizing risks to non-tumor tissue.Clinical Relevance- This enables precise 3D reconstruction of kidneys and lesions from 2D ultrasound images, supporting HIFU planning and enhancing ultrasound diagnostic accuracy.