{"id":"https://openalex.org/W4386352679","doi":"https://doi.org/10.1109/isbi53787.2023.10230773","title":"Trackerless Freehand Ultrasound with Sequence Modelling and Auxiliary Transformation Over Past and Future Frames","display_name":"Trackerless Freehand Ultrasound with Sequence Modelling and Auxiliary Transformation Over Past and Future Frames","publication_year":2023,"publication_date":"2023-04-18","ids":{"openalex":"https://openalex.org/W4386352679","doi":"https://doi.org/10.1109/isbi53787.2023.10230773"},"language":"en","primary_location":{"id":"doi:10.1109/isbi53787.2023.10230773","is_oa":false,"landing_page_url":"https://doi.org/10.1109/isbi53787.2023.10230773","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 20th International Symposium on Biomedical Imaging (ISBI)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101936139","display_name":"Qi Li","orcid":"https://orcid.org/0000-0002-2825-3531"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Qi Li","raw_affiliation_strings":["University College London,Centre for Medical Image Computing, Wellcome/EPSRC Centre for Interventional and Surgical Sciences,Department of Medical Physics and Biomedical Engineering,London,U.K","Department of Medical Physics and Biomedical Engineering, Centre for Medical Image Computing, Wellcome/EPSRC Centre for Interventional and Surgical Sciences, University College London, London, U.K"],"affiliations":[{"raw_affiliation_string":"University College London,Centre for Medical Image Computing, Wellcome/EPSRC Centre for Interventional and Surgical Sciences,Department of Medical Physics and Biomedical Engineering,London,U.K","institution_ids":[]},{"raw_affiliation_string":"Department of Medical Physics and Biomedical Engineering, Centre for Medical Image Computing, Wellcome/EPSRC Centre for Interventional and Surgical Sciences, University College London, London, U.K","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040995630","display_name":"Ziyi Shen","orcid":"https://orcid.org/0000-0001-6867-1909"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ziyi Shen","raw_affiliation_strings":["University College London,Centre for Medical Image Computing, Wellcome/EPSRC Centre for Interventional and Surgical Sciences,Department of Medical Physics and Biomedical Engineering,London,U.K","Department of Medical Physics and Biomedical Engineering, Centre for Medical Image Computing, Wellcome/EPSRC Centre for Interventional and Surgical Sciences, University College London, London, U.K"],"affiliations":[{"raw_affiliation_string":"University College London,Centre for Medical Image Computing, Wellcome/EPSRC Centre for Interventional and Surgical Sciences,Department of Medical Physics and Biomedical Engineering,London,U.K","institution_ids":[]},{"raw_affiliation_string":"Department of Medical Physics and Biomedical Engineering, Centre for Medical Image Computing, Wellcome/EPSRC Centre for Interventional and Surgical Sciences, University College London, London, U.K","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100340610","display_name":"Qian Li","orcid":"https://orcid.org/0000-0002-6825-9380"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qian Li","raw_affiliation_strings":["University College London,Centre for Medical Image Computing, Wellcome/EPSRC Centre for Interventional and Surgical Sciences,Department of Medical Physics and Biomedical Engineering,London,U.K","State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","Department of Medical Physics and Biomedical Engineering, Centre for Medical Image Computing, Wellcome/EPSRC Centre for Interventional and Surgical Sciences, University College London, London, U.K"],"affiliations":[{"raw_affiliation_string":"University College London,Centre for Medical Image Computing, Wellcome/EPSRC Centre for Interventional and Surgical Sciences,Department of Medical Physics and Biomedical Engineering,London,U.K","institution_ids":[]},{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"Department of Medical Physics and Biomedical Engineering, Centre for Medical Image Computing, Wellcome/EPSRC Centre for Interventional and Surgical Sciences, University College London, London, U.K","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066703217","display_name":"Dean C. Barratt","orcid":"https://orcid.org/0000-0003-2916-655X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dean C Barratt","raw_affiliation_strings":["University College London,Centre for Medical Image Computing, Wellcome/EPSRC Centre for Interventional and Surgical Sciences,Department of Medical Physics and Biomedical Engineering,London,U.K","Department of Medical Physics and Biomedical Engineering, Centre for Medical Image Computing, Wellcome/EPSRC Centre for Interventional and Surgical Sciences, University College London, London, U.K"],"affiliations":[{"raw_affiliation_string":"University College London,Centre for Medical Image Computing, Wellcome/EPSRC Centre for Interventional and Surgical Sciences,Department of Medical Physics and Biomedical Engineering,London,U.K","institution_ids":[]},{"raw_affiliation_string":"Department of Medical Physics and Biomedical Engineering, Centre for Medical Image Computing, Wellcome/EPSRC Centre for Interventional and Surgical Sciences, University College London, London, U.K","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022571046","display_name":"Thomas Dowrick","orcid":"https://orcid.org/0000-0002-2712-4447"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Thomas Dowrick","raw_affiliation_strings":["University College London,Centre for Medical Image Computing, Wellcome/EPSRC Centre for Interventional and Surgical Sciences,Department of Medical Physics and Biomedical Engineering,London,U.K","Department of Medical Physics and Biomedical Engineering, Centre for Medical Image Computing, Wellcome/EPSRC Centre for Interventional and Surgical Sciences, University College London, London, U.K"],"affiliations":[{"raw_affiliation_string":"University College London,Centre for Medical Image Computing, Wellcome/EPSRC Centre for Interventional and Surgical Sciences,Department of Medical Physics and Biomedical Engineering,London,U.K","institution_ids":[]},{"raw_affiliation_string":"Department of Medical Physics and Biomedical Engineering, Centre for Medical Image Computing, Wellcome/EPSRC Centre for Interventional and Surgical Sciences, University College London, London, U.K","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001311980","display_name":"Matthew J. Clarkson","orcid":"https://orcid.org/0000-0002-5565-1252"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Matthew J Clarkson","raw_affiliation_strings":["University College London,Centre for Medical Image Computing, Wellcome/EPSRC Centre for Interventional and Surgical Sciences,Department of Medical Physics and Biomedical Engineering,London,U.K","Department of Medical Physics and Biomedical Engineering, Centre for Medical Image Computing, Wellcome/EPSRC Centre for Interventional and Surgical Sciences, University College London, London, U.K"],"affiliations":[{"raw_affiliation_string":"University College London,Centre for Medical Image Computing, Wellcome/EPSRC Centre for Interventional and Surgical Sciences,Department of Medical Physics and Biomedical Engineering,London,U.K","institution_ids":[]},{"raw_affiliation_string":"Department of Medical Physics and Biomedical Engineering, Centre for Medical Image Computing, Wellcome/EPSRC Centre for Interventional and Surgical Sciences, University College London, London, U.K","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028279799","display_name":"Tom Vercauteren","orcid":"https://orcid.org/0000-0003-1794-0456"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tom Vercauteren","raw_affiliation_strings":["King&#x2019;s College London,School of Biomedical Engineering &#x0026; Imaging Sciences,London,U.K"],"affiliations":[{"raw_affiliation_string":"King&#x2019;s College London,School of Biomedical Engineering &#x0026; Imaging Sciences,London,U.K","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032309114","display_name":"Yipeng Hu","orcid":"https://orcid.org/0000-0003-4902-0486"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yipeng Hu","raw_affiliation_strings":["University College London,Centre for Medical Image Computing, Wellcome/EPSRC Centre for Interventional and Surgical Sciences,Department of Medical Physics and Biomedical Engineering,London,U.K","Department of Medical Physics and Biomedical Engineering, Centre for Medical Image Computing, Wellcome/EPSRC Centre for Interventional and Surgical Sciences, University College London, London, U.K"],"affiliations":[{"raw_affiliation_string":"University College London,Centre for Medical Image Computing, Wellcome/EPSRC Centre for Interventional and Surgical Sciences,Department of Medical Physics and Biomedical Engineering,London,U.K","institution_ids":[]},{"raw_affiliation_string":"Department of Medical Physics and Biomedical Engineering, Centre for Medical Image Computing, Wellcome/EPSRC Centre for Interventional and Surgical Sciences, University College London, London, U.K","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5101936139"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.494,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.89537905,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"5"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10727","display_name":"Ultrasound Imaging and Elastography","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/2741","display_name":"Radiology, Nuclear Medicine and Imaging"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},"topics":[{"id":"https://openalex.org/T10727","display_name":"Ultrasound Imaging and Elastography","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/2741","display_name":"Radiology, Nuclear Medicine and Imaging"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T12015","display_name":"Photoacoustic and Ultrasonic Imaging","score":0.9950000047683716,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10378","display_name":"Advanced MRI Techniques and Applications","score":0.9751999974250793,"subfield":{"id":"https://openalex.org/subfields/2741","display_name":"Radiology, Nuclear Medicine and Imaging"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/transformation","display_name":"Transformation (genetics)","score":0.7182698845863342},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7114602327346802},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6755369901657104},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.632514238357544},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5456079840660095},{"id":"https://openalex.org/keywords/sequence","display_name":"Sequence (biology)","score":0.5249640345573425},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.5130261778831482},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5071592330932617},{"id":"https://openalex.org/keywords/frame-rate","display_name":"Frame rate","score":0.4709875285625458},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.42453569173812866},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4168228507041931},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.0796414315700531}],"concepts":[{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.7182698845863342},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7114602327346802},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6755369901657104},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.632514238357544},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5456079840660095},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.5249640345573425},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.5130261778831482},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5071592330932617},{"id":"https://openalex.org/C3261483","wikidata":"https://www.wikidata.org/wiki/Q119565","display_name":"Frame rate","level":2,"score":0.4709875285625458},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.42453569173812866},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4168228507041931},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.0796414315700531},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/isbi53787.2023.10230773","is_oa":false,"landing_page_url":"https://doi.org/10.1109/isbi53787.2023.10230773","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 20th International Symposium on Biomedical Imaging (ISBI)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G7111065301","display_name":null,"funder_award_id":"EP/T029404/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320308507","display_name":"Stanford University","ror":"https://ror.org/00f54p054"},{"id":"https://openalex.org/F4320316508","display_name":"Medtronic","ror":"https://ror.org/00grd1h17"},{"id":"https://openalex.org/F4320319985","display_name":"Cancer Research UK","ror":"https://ror.org/054225q67"},{"id":"https://openalex.org/F4320320273","display_name":"University of Cambridge","ror":"https://ror.org/013meh722"},{"id":"https://openalex.org/F4320320286","display_name":"University College London","ror":"https://ror.org/02jx3x895"},{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1964666848","https://openalex.org/W2041027771","https://openalex.org/W2064675550","https://openalex.org/W2167082493","https://openalex.org/W2471596589","https://openalex.org/W2734823428","https://openalex.org/W2737861305","https://openalex.org/W2750800898","https://openalex.org/W2808280970","https://openalex.org/W2905559537","https://openalex.org/W2955425717","https://openalex.org/W3089734453","https://openalex.org/W3092640715","https://openalex.org/W3098507578","https://openalex.org/W3153063051","https://openalex.org/W3179339842","https://openalex.org/W3199177531","https://openalex.org/W3201913774","https://openalex.org/W3203729325","https://openalex.org/W4200175780","https://openalex.org/W4200359985","https://openalex.org/W4224991290","https://openalex.org/W4283812174","https://openalex.org/W4285891065","https://openalex.org/W6762718338","https://openalex.org/W6799168626"],"related_works":["https://openalex.org/W2047973478","https://openalex.org/W4295532600","https://openalex.org/W2063823869","https://openalex.org/W2067569035","https://openalex.org/W2090985514","https://openalex.org/W2084086966","https://openalex.org/W2885323543","https://openalex.org/W3177346028","https://openalex.org/W2977517636","https://openalex.org/W2810129309"],"abstract_inverted_index":{"Three-dimensional":[0],"(3D)":[1],"freehand":[2],"ultrasound":[3],"(US)":[4],"reconstruction":[5,103],"without":[6,189],"a":[7,54,63,89],"tracker":[8],"can":[9],"be":[10,213,225],"advantageous":[11],"over":[12],"its":[13],"two-dimensional":[14],"or":[15,188,206],"tracked":[16],"counterparts":[17],"in":[18,88,203],"many":[19],"clinical":[20],"applications.":[21],"In":[22],"this":[23],"paper,":[24],"we":[25],"propose":[26],"to":[27,61,139],"estimate":[28],"3D":[29],"spatial":[30],"transformation":[31,153],"between":[32,70,154],"US":[33,76],"frames":[34,77,129,164,167,177],"from":[35,79,114,183],"both":[36],"past":[37,141],"and":[38,44,108,218,231],"future":[39,143],"2D":[40],"images,":[41],"using":[42],"feed-forward":[43],"recurrent":[45],"neural":[46],"networks":[47],"(RNNs).":[48],"With":[49],"the":[50,92,121,125,184,194],"temporally":[51],"available":[52,228],"frames,":[53,156],"further":[55,136,232],"multi-task":[56],"learning":[57],"algorithm":[58],"is":[59,96],"proposed":[60,195],"utilise":[62],"large":[64],"number":[65],"of":[66,85,123,160],"auxiliary":[67],"transformation-predicting":[68],"tasks":[69],"them.":[71],"Using":[72],"more":[73,178],"than":[74,162,179],"40,000":[75],"acquired":[78],"228":[80],"scans":[81],"on":[82,112],"38":[83],"forearms":[84],"19":[86],"volunteers":[87],"volunteer":[90,219],"study,":[91],"hold-out":[93],"test":[94],"performance":[95],"quantified":[97],"by":[98,175],"frame":[99],"prediction":[100],"accuracy,":[101],"volume":[102],"overlap,":[104],"accumulated":[105,208],"tracking":[106],"error":[107,209],"final":[109],"drift,":[110],"based":[111],"ground-truth":[113],"an":[115,158],"optical":[116],"tracker.":[117],"The":[118,145,215],"results":[119],"show":[120],"importance":[122],"modelling":[124],"temporal-spatially":[126],"correlated":[127],"input":[128],"as":[130,132],"well":[131],"output":[133],"transformations,":[134],"with":[135,151,157,187,193],"improvement":[137],"owing":[138],"additional":[140],"and/or":[142],"frames.":[144],"best":[146],"performing":[147],"model":[148],"was":[149,173],"associated":[150],"predicting":[152],"moderately-spaced":[155],"interval":[159],"less":[161],"ten":[163],"at":[165],"20":[166],"per":[168],"second":[169,181],"(fps).":[170],"Little":[171],"benefit":[172],"observed":[174],"adding":[176],"one":[180],"away":[182],"predicted":[185],"transformation,":[186],"LSTM-based":[190],"RNNs.":[191],"Interestingly,":[192],"approach,":[196],"explicit":[197],"within-sequence":[198],"loss":[199],"that":[200],"encourages":[201],"consistency":[202],"composing":[204],"transformations":[205],"minimises":[207],"may":[210],"no":[211],"longer":[212],"required.":[214],"implementation":[216],"code":[217],"data":[220],"<sup":[221],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[222],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">1</sup>":[223],"will":[224],"made":[226],"publicly":[227],"ensuring":[229],"reproducibility":[230],"research.":[233]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":4}],"updated_date":"2026-04-11T08:14:18.477133","created_date":"2025-10-10T00:00:00"}
