<?xml version="1.0" encoding="utf-8"?>
<TEI xmlns="http://www.tei-c.org/ns/1.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:hal="http://hal.archives-ouvertes.fr/" xmlns:gml="http://www.opengis.net/gml/3.3/" xmlns:gmlce="http://www.opengis.net/gml/3.3/ce" version="1.1" xsi:schemaLocation="http://www.tei-c.org/ns/1.0 http://api.archives-ouvertes.fr/documents/aofr-sword.xsd">
  <teiHeader>
    <fileDesc>
      <titleStmt>
        <title>HAL TEI export of hal-05247944</title>
      </titleStmt>
      <publicationStmt>
        <distributor>CCSD</distributor>
        <availability status="restricted">
          <licence target="https://creativecommons.org/publicdomain/zero/1.0/">CC0 1.0 - Universal</licence>
        </availability>
        <date when="2026-05-12T05:21:11+02:00"/>
      </publicationStmt>
      <sourceDesc>
        <p part="N">HAL API Platform</p>
      </sourceDesc>
    </fileDesc>
  </teiHeader>
  <text>
    <body>
      <listBibl>
        <biblFull>
          <titleStmt>
            <title xml:lang="en">Deep sensorless tracking of ultrasound probe orientation during freehand transperineal biopsy with spatial context for symmetry disambiguation</title>
            <author role="aut">
              <persName>
                <forename type="first">Chloé</forename>
                <surname>Soormally</surname>
              </persName>
              <idno type="halauthorid">3762635-0</idno>
              <affiliation ref="#struct-1043049"/>
              <affiliation ref="#struct-1043054"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Clément</forename>
                <surname>Beitone</surname>
              </persName>
              <idno type="idhal" notation="numeric">1580618</idno>
              <idno type="halauthorid" notation="string">825609-1580618</idno>
              <idno type="ORCID">https://orcid.org/0000-0003-4081-4247</idno>
              <affiliation ref="#struct-1043049"/>
              <affiliation ref="#struct-1043054"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Jocelyne</forename>
                <surname>Troccaz</surname>
              </persName>
              <email type="md5">59213c8bff5e4089ab88c0f88732aef3</email>
              <email type="domain">univ-grenoble-alpes.fr</email>
              <idno type="idhal" notation="string">jocelyne-troccaz</idno>
              <idno type="idhal" notation="numeric">763</idno>
              <idno type="halauthorid" notation="string">25175-763</idno>
              <idno type="ORCID">https://orcid.org/0000-0001-5921-9419</idno>
              <idno type="IDREF">https://www.idref.fr/031497977</idno>
              <affiliation ref="#struct-1043054"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Sandrine</forename>
                <surname>Voros</surname>
              </persName>
              <email type="md5">25f12fb2b43a8082d2de92954c933b47</email>
              <email type="domain">univ-grenoble-alpes.fr</email>
              <idno type="idhal" notation="string">sandrine-voros</idno>
              <idno type="idhal" notation="numeric">172074</idno>
              <idno type="halauthorid" notation="string">5713-172074</idno>
              <idno type="ORCID">https://orcid.org/0000-0002-7418-2367</idno>
              <idno type="IDREF">https://www.idref.fr/115381368</idno>
              <affiliation ref="#struct-1043054"/>
              <affiliation ref="#struct-1043049"/>
            </author>
            <editor role="depositor">
              <persName>
                <forename>Sandrine</forename>
                <surname>Voros</surname>
              </persName>
              <email type="md5">25f12fb2b43a8082d2de92954c933b47</email>
              <email type="domain">univ-grenoble-alpes.fr</email>
            </editor>
            <funder ref="#projanr-50501"/>
            <funder ref="#projanr-50313"/>
            <funder ref="#projanr-185717"/>
            <funder>Investissement d’Avenir program (grant PSPC n◦ 9 DIANA)</funder>
          </titleStmt>
          <editionStmt>
            <edition n="v1" type="current">
              <date type="whenSubmitted">2025-09-10 09:51:44</date>
              <date type="whenModified">2026-05-12 03:21:33</date>
              <date type="whenReleased">2025-09-15 10:53:19</date>
              <date type="whenProduced">2025</date>
              <date type="whenEndEmbargoed">2026-01-29</date>
              <ref type="file" target="https://hal.science/hal-05247944v1/document">
                <date notBefore="2026-01-29"/>
              </ref>
              <ref type="file" subtype="author" n="1" target="https://hal.science/hal-05247944v1/file/CIBM___revised__Deep_sensorless_tracking_of_ultrasound_probe_orientation_during_freehand_transperineal_biopsy_with.pdf" id="file-5247944-4513800">
                <date notBefore="2026-01-29"/>
              </ref>
            </edition>
            <respStmt>
              <resp>contributor</resp>
              <name key="125986">
                <persName>
                  <forename>Sandrine</forename>
                  <surname>Voros</surname>
                </persName>
                <email type="md5">25f12fb2b43a8082d2de92954c933b47</email>
                <email type="domain">univ-grenoble-alpes.fr</email>
              </name>
            </respStmt>
          </editionStmt>
          <publicationStmt>
            <distributor>CCSD</distributor>
            <idno type="halId">hal-05247944</idno>
            <idno type="halUri">https://hal.science/hal-05247944</idno>
            <idno type="halBibtex">soormally:hal-05247944</idno>
            <idno type="halRefHtml">&lt;i&gt;Computers in Biology and Medicine&lt;/i&gt;, 2025, 196, pp.110777. &lt;a target="_blank" href="https://dx.doi.org/10.1016/j.compbiomed.2025.110777"&gt;&amp;#x27E8;10.1016/j.compbiomed.2025.110777&amp;#x27E9;&lt;/a&gt;</idno>
            <idno type="halRef">Computers in Biology and Medicine, 2025, 196, pp.110777. &amp;#x27E8;10.1016/j.compbiomed.2025.110777&amp;#x27E9;</idno>
            <availability status="restricted">
              <licence target="https://creativecommons.org/licenses/by/4.0/">CC BY 4.0 - Attribution<ref corresp="#file-5247944-4513800"/></licence>
            </availability>
          </publicationStmt>
          <seriesStmt>
            <idno type="stamp" n="UGA">HAL Grenoble Alpes</idno>
            <idno type="stamp" n="IMAG">IMAG</idno>
            <idno type="stamp" n="CNRS">CNRS - Centre national de la recherche scientifique</idno>
            <idno type="stamp" n="INPG">Institut polytechnique de Grenoble</idno>
            <idno type="stamp" n="TIMC-IMAG">TIMC</idno>
            <idno type="stamp" n="TIMC-IMAG-GMCAO" corresp="TIMC-IMAG">GMCAO : Geste Médico-Chirurgicaux Assistés par Ordinateur</idno>
            <idno type="stamp" n="UNIV-LYON">Université de Lyon</idno>
            <idno type="stamp" n="MIAI">Multidisciplinary Institute in Artificial intelligence - Grenoble Alpes</idno>
            <idno type="stamp" n="PNRIA">Programme National de Recherche en IA</idno>
            <idno type="stamp" n="UGA-EPE">Université Grenoble Alpes [2020-*]</idno>
            <idno type="stamp" n="ANR">ANR</idno>
            <idno type="stamp" n="ACADEMIE-SCIENCES">Académie des sciences</idno>
            <idno type="stamp" n="ANR-IA-19" corresp="ANR-IA">ANR-IA-19</idno>
            <idno type="stamp" n="ANR-IA-23" corresp="ANR-IA">ANR-IA-23</idno>
            <idno type="stamp" n="ANR-IA">ANR-IA</idno>
            <idno type="stamp" n="MIAI-CLUSTER">MIAI Cluster </idno>
            <idno type="stamp" n="TEST-UGA">TEST-UGA</idno>
            <idno type="stamp" n="ACADEMIE-SCIENCES-PUBLICATIONS-MEMBRES" corresp="ACADEMIE-SCIENCES">Publications des membres, correspondants et associés étrangers de l'Académie des sciences</idno>
            <idno type="stamp" n="ACADEMIE-SCIENCES-PUBLICATIONS-MEMBRES-1" corresp="ACADEMIE-SCIENCES-PUBLICATIONS-MEMBRES">Publications des membres de l'Académie des sciences (lot 1)</idno>
          </seriesStmt>
          <notesStmt>
            <note type="audience" n="2">International</note>
            <note type="popular" n="0">No</note>
            <note type="peer" n="1">Yes</note>
          </notesStmt>
          <sourceDesc>
            <biblStruct>
              <analytic>
                <title xml:lang="en">Deep sensorless tracking of ultrasound probe orientation during freehand transperineal biopsy with spatial context for symmetry disambiguation</title>
                <author role="aut">
                  <persName>
                    <forename type="first">Chloé</forename>
                    <surname>Soormally</surname>
                  </persName>
                  <idno type="halauthorid">3762635-0</idno>
                  <affiliation ref="#struct-1043049"/>
                  <affiliation ref="#struct-1043054"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Clément</forename>
                    <surname>Beitone</surname>
                  </persName>
                  <idno type="idhal" notation="numeric">1580618</idno>
                  <idno type="halauthorid" notation="string">825609-1580618</idno>
                  <idno type="ORCID">https://orcid.org/0000-0003-4081-4247</idno>
                  <affiliation ref="#struct-1043049"/>
                  <affiliation ref="#struct-1043054"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Jocelyne</forename>
                    <surname>Troccaz</surname>
                  </persName>
                  <email type="md5">59213c8bff5e4089ab88c0f88732aef3</email>
                  <email type="domain">univ-grenoble-alpes.fr</email>
                  <idno type="idhal" notation="string">jocelyne-troccaz</idno>
                  <idno type="idhal" notation="numeric">763</idno>
                  <idno type="halauthorid" notation="string">25175-763</idno>
                  <idno type="ORCID">https://orcid.org/0000-0001-5921-9419</idno>
                  <idno type="IDREF">https://www.idref.fr/031497977</idno>
                  <affiliation ref="#struct-1043054"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Sandrine</forename>
                    <surname>Voros</surname>
                  </persName>
                  <email type="md5">25f12fb2b43a8082d2de92954c933b47</email>
                  <email type="domain">univ-grenoble-alpes.fr</email>
                  <idno type="idhal" notation="string">sandrine-voros</idno>
                  <idno type="idhal" notation="numeric">172074</idno>
                  <idno type="halauthorid" notation="string">5713-172074</idno>
                  <idno type="ORCID">https://orcid.org/0000-0002-7418-2367</idno>
                  <idno type="IDREF">https://www.idref.fr/115381368</idno>
                  <affiliation ref="#struct-1043054"/>
                  <affiliation ref="#struct-1043049"/>
                </author>
              </analytic>
              <monogr>
                <idno type="halJournalId" status="VALID">12061</idno>
                <idno type="issn">0010-4825</idno>
                <title level="j">Computers in Biology and Medicine</title>
                <imprint>
                  <publisher>Elsevier</publisher>
                  <biblScope unit="volume">196</biblScope>
                  <biblScope unit="pp">110777</biblScope>
                  <date type="datePub">2025</date>
                </imprint>
              </monogr>
              <idno type="doi">10.1016/j.compbiomed.2025.110777</idno>
            </biblStruct>
          </sourceDesc>
          <profileDesc>
            <langUsage>
              <language ident="en">English</language>
            </langUsage>
            <textClass>
              <classCode scheme="halDomain" n="sdv.ib.ima">Life Sciences [q-bio]/Bioengineering/Imaging</classCode>
              <classCode scheme="halDomain" n="sdv.can">Life Sciences [q-bio]/Cancer</classCode>
              <classCode scheme="halDomain" n="sdv.mhep.un">Life Sciences [q-bio]/Human health and pathology/Urology and Nephrology</classCode>
              <classCode scheme="halTypology" n="ART">Journal articles</classCode>
              <classCode scheme="halOldTypology" n="ART">Journal articles</classCode>
              <classCode scheme="halTreeTypology" n="ART">Journal articles</classCode>
            </textClass>
            <abstract xml:lang="en">
              <p>Background: Diagnosis of prostate cancer requires histopathology of tissue samples. Following an MRI to identify suspicious areas, a biopsy is performed under ultrasound (US) guidance. In existing assistance systems, 3D US information is generally available (taken before the biopsy session and/or in between samplings). However, without registration between 2D images and 3D volumes, the urologist must rely on cognitive navigation.Method: This work introduces a deep learning model to track the orientation of real-time US slices relative to a reference 3D US volume using only image and volume data. The dataset comprises 515 3D US volumes collected from 51 patients during routine transperineal biopsy. To generate 2D images streams, volumes are resampled to simulate three degrees of freedom rotational movements around the rectal entrance. The proposed model comprises two ResNet-based sub-modules to address the symmetry ambiguity arising from complex out-of-plane movement of the probe. The first sub-module predicts the unsigned relative orientation between consecutive slices, while the second leverages a custom similarity model and a spatial context volume to determine the sign of this relative orientation. From the submodules predictions, slices orientations along the navigated trajectory can then be derived in real-time.Results: Results demonstrate that registration error remains below 2.5 mm in 92% of cases over a 5-second trajectory, and 80% over a 25-second trajectory.Conclusion These findings show that accurate, sensorless 2D/3D US registration given a spatial context is achievable with limited drift over extended navigation. This highlights the potential of AIdriven biopsy assistance to increase the accuracy of freehand biopsy.</p>
            </abstract>
          </profileDesc>
        </biblFull>
      </listBibl>
    </body>
    <back>
      <listOrg type="structures">
        <org type="laboratory" xml:id="struct-1043049" status="VALID">
          <idno type="IdRef">14728936X</idno>
          <idno type="ISNI">0000 0004 4687 1979</idno>
          <idno type="RNSR">199511969L</idno>
          <idno type="ROR">https://ror.org/03985kf35</idno>
          <orgName>Translational Innovation in Medicine and Complexity / Recherche Translationnelle et Innovation en Médecine et Complexité - UMR 5525</orgName>
          <orgName type="acronym">TIMC</orgName>
          <date type="start">2021-01-01</date>
          <desc>
            <address>
              <addrLine>Domaine de la Merci, 38706 La Tronche, France</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.timc.fr/</ref>
          </desc>
          <listRelation>
            <relation active="#struct-301767" type="direct"/>
            <relation name="UMR5525" active="#struct-441569" type="direct"/>
            <relation active="#struct-1042703" type="direct"/>
            <relation active="#struct-1043329" type="direct"/>
          </listRelation>
        </org>
        <org type="researchteam" xml:id="struct-1043054" status="VALID">
          <orgName>Gestes Medico-chirurgicaux Assistés par Ordinateur</orgName>
          <orgName type="acronym">TIMC-GMCAO</orgName>
          <date type="start">2021-01-01</date>
          <desc>
            <address>
              <addrLine>Pavillon Taillefer, Rond-point de la Croix de Vie, 38700 La Tronche</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.timc.fr/gmcao</ref>
          </desc>
          <listRelation>
            <relation active="#struct-1043049" type="direct"/>
            <relation active="#struct-301767" type="indirect"/>
            <relation name="UMR5525" active="#struct-441569" type="indirect"/>
            <relation active="#struct-1042703" type="indirect"/>
            <relation active="#struct-1043329" type="indirect"/>
          </listRelation>
        </org>
        <org type="institution" xml:id="struct-301767" status="VALID">
          <idno type="ROR">https://ror.org/01c7wz417</idno>
          <orgName>VetAgro Sup - Institut national d'enseignement supérieur et de recherche en alimentation, santé animale, sciences agronomiques et de l'environnement</orgName>
          <orgName type="acronym">VAS</orgName>
          <date type="start">2010-01-01</date>
          <desc>
            <address>
              <addrLine>Université de Lyon, VetAgro Sup, 69280 Marcy l'Etoile (campus vétérinaire); Université de Clermont, VetAgro Sup, 63370 Lempdes (campus agronomique)</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.vetagro-sup.fr/</ref>
          </desc>
        </org>
        <org type="regroupinstitution" xml:id="struct-441569" status="VALID">
          <idno type="IdRef">02636817X</idno>
          <idno type="ISNI">0000000122597504</idno>
          <idno type="ROR">https://ror.org/02feahw73</idno>
          <orgName>Centre National de la Recherche Scientifique</orgName>
          <orgName type="acronym">CNRS</orgName>
          <date type="start">1939-10-19</date>
          <desc>
            <address>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.cnrs.fr/</ref>
          </desc>
        </org>
        <org type="regroupinstitution" xml:id="struct-1042703" status="VALID">
          <idno type="IdRef">240648315</idno>
          <idno type="ROR">https://ror.org/02rx3b187</idno>
          <orgName>Université Grenoble Alpes</orgName>
          <orgName type="acronym">UGA</orgName>
          <date type="start">2020-01-01</date>
          <desc>
            <address>
              <addrLine>Adresse CS 40700 - 38058 Grenoble cedex</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.univ-grenoble-alpes.fr</ref>
          </desc>
        </org>
        <org type="institution" xml:id="struct-1043329" status="VALID">
          <idno type="IdRef">026388804</idno>
          <idno type="ROR">https://ror.org/05sbt2524</idno>
          <orgName>Institut polytechnique de Grenoble - Grenoble Institute of Technology</orgName>
          <orgName type="acronym">Grenoble INP</orgName>
          <date type="start">2020-01-01</date>
          <desc>
            <address>
              <addrLine>46 avenue Félix Viallet 38031 Grenoble Cedex 1</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.grenoble-inp.fr/</ref>
          </desc>
          <listRelation>
            <relation active="#struct-1042703" type="direct"/>
          </listRelation>
        </org>
      </listOrg>
      <listOrg type="projects">
        <org type="anrProject" xml:id="projanr-50501" status="VALID">
          <idno type="anr">ANR-19-P3IA-0003</idno>
          <orgName>MIAI</orgName>
          <desc>MIAI @ Grenoble Alpes</desc>
          <date type="start">2019</date>
        </org>
        <org type="anrProject" xml:id="projanr-50313" status="VALID">
          <idno type="anr">ANR-11-LABX-0004</idno>
          <orgName>CAMI</orgName>
          <desc>Gestes Médico-Chirurgicaux Assistés par Ordinateur</desc>
          <date type="start">2011</date>
        </org>
        <org type="anrProject" xml:id="projanr-185717" status="VALID">
          <idno type="anr">ANR-23-IACL-0006</idno>
          <orgName>MIAI Cluster</orgName>
          <desc>MIAI Cluster</desc>
          <date type="start">2023</date>
        </org>
      </listOrg>
    </back>
  </text>
</TEI>