IS = { zkontrolovano 20 Jul 2010 },
  UPDATE  = { 2010-07-20 },
  author =     {Uher{\v c}{\' \i}k, Mari{\' a}n and Kybic, Jan and 
                Liebgott, Herv{\' e} and Cachard, Christian},
  title =      {Model Fitting Using {RANSAC} for Surgical Tool 
                Localization in {3-D} Ultrasound Images},
  year =       {2010},
  month =      {August},
  volume =     {57},
  number =     {8},
  pages =      {1907--1916},
  journal =    {IEEE Transactions on Biomedical Engineering},
  publisher =  {IEEE Engineering in Medicine and Biology Society},
  address =    {Piscataway, USA},
  issn =       {0018-9294},
  authorship = {50-40-5-5},
  annote = {Ultrasound guidance is used for many surgical
    interventions such as biopsy and electrode insertion.  We present
    a~method to localize a~thin surgical tool such as a~biopsy needle
    or a~micro-electrode in a~three-dimensional (3D) ultrasound image.
    The proposed method starts with thresholding and model fitting
    using RANSAC for robust localization of the axis. Subsequent local
    optimization refines its position.  Two different tool image
    models are presented, one simple and fast, the second using
    learned a~priori information on the tool's voxel intensities and
    the background.  Finally, the tip of the~tool is localized
    by~finding an~intensity drop along the axis.  The simulation study
    shows that our algorithm can localize the tool at nearly real-time
    speed, even using a MATLAB implementation, with accuracy better
    than 1~mm.  In an~experimental comparison to several alternative
    localization methods, our method appears to be the fastest and the
    most robust one.  We also show the results on real 3D ultrasound
    data from a~PVA cryogel phantom, turkey breast, and breast biopsy. },
  keywords =   {3-D ultrasound, Electrode, localization, needle, 
                random sample consensus (RANSAC), randomized algorithm, 
                ultrasound guidance},
  note =       {A revision was submitted in November 2009.},
  project =    {EC project MEST-CT-2005-021024 WARTHE, MSM6840770012},
  psurl =      {[Uhercik-ieeeTBME2010.pdf]},
  url=         {ftp://cmp.felk.cvut.cz/pub/cmp/articles/uhercik/Uhercik-ieeeTBME2010.pdf},