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Title: Differential Image Based Robot to MRI Scanner Registration with Active Fiducial Markers for an MRI-Guided Robotic Catheter System
Award ID(s):
1700839 1563805 1524363
NSF-PAR ID:
10200562
Author(s) / Creator(s):
Date Published:
Journal Name:
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2020)
Format(s):
Medium: X
Sponsoring Org:
National Science Foundation
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  1. This work presents a novel deep learning architecture called BNU-Net for the purpose of cardiac segmentation based on short-axis MRI images. Its name is derived from the Batch Normalized (BN) U-Net architecture for medical image segmentation. New generations of deep neural networks (NN) are called convolutional NN (CNN). CNNs like U-Net have been widely used for image classification tasks. CNNs are supervised training models which are trained to learn hierarchies of features automatically and robustly perform classification. Our architecture consists of an encoding path for feature extraction and a decoding path that enables precise localization. We compare this approach with a parallel approach named U-Net. Both BNU-Net and U-Net are cardiac segmentation approaches: while BNU-Net employs batch normalization to the results of each convolutional layer and applies an exponential linear unit (ELU) approach that operates as activation function, U-Net does not apply batch normalization and is based on Rectified Linear Units (ReLU). The presented work (i) facilitates various image preprocessing techniques, which includes affine transformations and elastic deformations, and (ii) segments the preprocessed images using the new deep learning architecture. We evaluate our approach on a dataset containing 805 MRI images from 45 patients. The experimental results reveal that our approach accomplishes comparable or better performance than other state-of-the-art approaches in terms of the Dice coefficient and the average perpendicular distance. 
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