# MrTrack: Register Mamba for Needle Tracking with Rapid Reciprocating Motion during Ultrasound-Guided Aspiration Biopsy

arXiv: https://arxiv.org/abs/2505.09450 · HTML: https://mlsanity.com/paper/2505.09450/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Placed in Mamba for medical image analysis, one of 10 directions in State-space sequence models (S4, Mamba).
- Builds on 21 of its 39 references that are in the map.
- First posted on arXiv 14 May 2025.

## Placed in

- State-space sequence models (S4, Mamba) / [Mamba for medical image analysis](https://mlsanity.com/ssm/mamba-for-medical-image-analysis/)

## Builds on (most cited first, 21 of 21)

- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [Bootstrap your own latent: A new approach to self-supervised Learning](https://mlsanity.com/paper/2006.07733/) (2020)
- [Mamba: Linear-Time Sequence Modeling with Selective State Spaces](https://mlsanity.com/paper/2312.00752/) (2023)
- [Barlow Twins: Self-Supervised Learning via Redundancy Reduction](https://mlsanity.com/paper/2103.03230/) (2021)
- [VICReg: Variance-Invariance-Covariance Regularization for Self-Supervised Learning](https://mlsanity.com/paper/2105.04906/) (2021)
- [Vision Transformers Need Registers](https://mlsanity.com/paper/2309.16588/) (2023)
- [SiamRPN++: Evolution of Siamese Visual Tracking with Very Deep Networks](https://mlsanity.com/paper/1812.11703/) (2018)
- [TrackingNet: A Large-Scale Dataset and Benchmark for Object Tracking in the Wild](https://mlsanity.com/paper/1803.10794/) (2018)
- [A Survey on Self-supervised Learning: Algorithms, Applications, and Future Trends](https://mlsanity.com/paper/2301.05712/) (2023)
- [SiamCAR: Siamese Fully Convolutional Classification and Regression for Visual Tracking](https://mlsanity.com/paper/1911.07241/) (2019)
- [ODTrack: Online Dense Temporal Token Learning for Visual Tracking](https://mlsanity.com/paper/2401.01686/) (2024)
- [SwinTrack: A Simple and Strong Baseline for Transformer Tracking](https://mlsanity.com/paper/2112.00995/) (2021)
- [STMTrack: Template-free Visual Tracking with Space-time Memory Networks](https://mlsanity.com/paper/2104.00324/) (2021)
- [A Survey on Visual Mamba](https://mlsanity.com/paper/2404.15956/) (2024)
- [Mamba-R: Vision Mamba ALSO Needs Registers](https://mlsanity.com/paper/2405.14858/) (2024)
- [Mamba-FETrack: Frame-Event Tracking via State Space Model](https://mlsanity.com/paper/2404.18174/) (2024)
- [Robust Tracking via Mamba-based Context-aware Token Learning](https://mlsanity.com/paper/2412.13611/) (2024)
- [MambaVT: Spatio-Temporal Contextual Modeling for robust RGB-T Tracking](https://mlsanity.com/paper/2408.07889/) (2024)
- [A Unified Framework for Microscopy Defocus Deblur with Multi-Pyramid Transformer and Contrastive Learning](https://mlsanity.com/paper/2403.02611/) (2024)
- [Motion-Guided Dual-Camera Tracker for Endoscope Tracking and Motion Analysis in a Mechanical Gastric Simulator](https://mlsanity.com/paper/2403.05146/) (2024)
- [MambaXCTrack: Mamba-based Tracker with SSM Cross-correlation and Motion Prompt for Ultrasound Needle Tracking](https://mlsanity.com/paper/2411.08395/) (2024)

## Built on by (most cited first, 2 of 2)

- [A Vision-Language-Action Model for Adaptive Ultrasound-Guided Needle Insertion and Needle Tracking](https://mlsanity.com/paper/2604.20347/) (2026)
- [Real-Time Guidewire Tip Tracking Using a Siamese Network for Image-Guided Endovascular Procedures](https://mlsanity.com/paper/2507.00051/) (2025)

## Abstract (arXiv)

Ultrasound-guided fine needle aspiration (FNA) biopsy is a common minimally invasive diagnostic procedure. However, an aspiration needle tracker addressing rapid reciprocating motion is still missing. MrTrack, an aspiration needle tracker with a mamba-based register mechanism, is proposed. MrTrack leverages a Mamba-based register extractor to sequentially distill global context from each historical search map, storing these temporal cues in a register bank. The Mamba-based register retriever then retrieves temporal prompts from the register bank to provide external cues when current vision features are temporarily unusable due to rapid reciprocating motion and imaging degradation. A self-supervised register diversify loss is proposed to encourage feature diversity and dimension independence within the learned register, mitigating feature collapse. Comprehensive experiments conducted on both robotic and manual aspiration biopsy datasets demonstrate that MrTrack not only outperforms state-of-the-art trackers in accuracy and robustness but also achieves superior inference efficiency. Project page: https://github.com/PieceZhang/MrTrack