3-d ultrasound guidance of surgical robotics: Autonomous guidance and catheter transducers

被引:2
|
作者
Fronheiser, Matthew P. [1 ]
Whitman, John [1 ]
Ivancevich, Nikolas M. [1 ]
Smith, Stephen W. [1 ]
机构
[1] Duke Univ, Dept Biomed Engn, Durham, NC 27708 USA
来源
2007 IEEE ULTRASONICS SYMPOSIUM PROCEEDINGS, VOLS 1-6 | 2007年
关键词
2D array transducer; real-time 3D imaging; surgical robotics;
D O I
10.1109/ULTSYM.2007.636
中图分类号
O42 [声学];
学科分类号
070206 ; 082403 ;
摘要
In 2006 our laboratory showed that a matrix array endoscope capable of real-time 3D (RT3D) scanning could be used to guide a surgical robot with an rms error of less than 2mm. In this study, we examine two new topics in robotic guidance: (1) the feasibility of using a real-time 3D (RT3D) ultrasound scanner with a transthoracic array to guide an autonomous surgical robot by using a fiducial transducer mark and thresholding to achieve image segmentation. (2) using intra-cardiac and intravascular 3D catheters with the 3D scanner measurement package. We tested the accuracy of using the scanner to automatically direct a robot arm which touched two needle tips together within a water tank and a vascular graft and performed simulated needle biopsies of a cyst-like lesion in a tissue phantom.
引用
收藏
页码:2527 / 2530
页数:4
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