构建可复现的3D超声重建质量评估框架，提升临床应用可靠性。
A Unified Platform and Quality Assurance Framework for 3D Ultrasound Reconstruction with Robotic, Optical, and Electromagnetic Tracking
- 设计含多种对称性几何体的专用体模，支持多追踪方式对比测试
- 实现无需显卡加速的实时分割与重建（DSC=0.97，帧率46FPS）
- 达成当前最优3D超声重建性能（DSC-3D=0.94±0.01，HD95=1.17±0.12）
三维超声可助力诊断、治疗规划和图像引导治疗，但现有研究很少全面评估体积精度与可重复性，亟需可靠的质控（QA）框架，尤其针对自由手持或机器人采集的追踪式3D超声重建。本研究提出一种3D超声重建的QA框架及灵活开源研究平台。自定义体模包含具有不同对称性的几何结构，可简便评估光学、电磁及机器人运动学追踪在不同扫描速度和入射角度下的表现。标准化流程实现几何目标的实时分割与3D重建（DSC=0.97，FPS=46），无需GPU加速；随后自动配准并对比真实几何结构。应用该框架表明，所提出的机器人3D超声达到当前最优重建性能（DSC-3D=0.94±0.01，HD95=1.17±0.12），逼近探头空间分辨率极限。本工作建立了灵活实验平台与可复现验证方法，支持跨平台可靠比较与规范报告，推动3D超声在诊断与图像引导治疗中的安全有效临床转化。
原文摘要 · Abstract (English)
Three-dimensional (3D) Ultrasound (US) can facilitate diagnosis, treatment planning, and image-guided therapy. However, current studies rarely provide a comprehensive evaluation of volumetric accuracy and reproducibility, highlighting the need for robust Quality Assurance (QA) frameworks, particularly for tracked 3D US reconstruction using freehand or robotic acquisition. This study presents a QA framework for 3D US reconstruction and a flexible open source platform for tracked US research. A custom phantom containing geometric inclusions with varying symmetry properties enables straightforward evaluation of optical, electromagnetic, and robotic kinematic tracking for 3D US at different scanning speeds and insonation angles. A standardised pipeline performs real-time segmentation and 3D reconstruction of geometric targets (DSC = 0.97, FPS = 46) without GPU acceleration, followed by automated registration and comparison with ground-truth geometries. Applying this framework showed that our robotic 3D US achieves state-of-the-art reconstruction performance (DSC-3D = 0.94 +- 0.01, HD95 = 1.17 +- 0.12), approaching the spatial resolution limit imposed by the transducer. This work establishes a flexible experimental platform and a reproducible validation methodology for 3D US reconstruction. The proposed framework enables robust cross-platform comparisons and improved reporting practices, supporting the safe and effective clinical translation of 3D ultrasound in diagnostic and image-guided therapy applications.
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