RSV: Robotic Sonography for Thyroid Volumetry

Abstract

In nuclear medicine, radioiodine therapy is prescribed to treat diseases like hyperthyroidism. The calculation of the prescribed dose depends, amongst other factors, on the thyroid volume. This is currently estimated using conventional 2D ultrasound imaging. However, this modality is inherently user-dependant, resulting in high variability in volume estimations. To increase reproducibility and consistency, we uniquely combine a neural network-based segmentation with an automatic robotic ultrasound scanning for thyroid volumetry. The robotic acquisition is achieved by using a 6 DoF robotic arm with an attached ultrasound probe. Its movement is based on an online segmentation of each thyroid lobe and the appearance of the US image. During post-processing, the US images are segmented to obtain a volume estimation. In an ablation study, we demonstrated the superiority of the motion guidance algorithms for the robot arm movement compared to a naive linear motion executed by the robot in terms of volumetric accuracy. In a user study on a phantom, we compared conventional 2D ultrasound measurements with our robotic system. The mean volume measurement error of ultrasound expert users could be significantly decreased from <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$20.85\pm 16.10\%$</tex-math></inline-formula> to only <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$8.23\pm 3.10\%$</tex-math></inline-formula> compared to the ground truth. This tendency was observed even more in non-expert users where the mean error improvement with the robotic system was measured to be as high as 85% which clearly shows the advantages of the robotic support.