Title :
3-D ultrasound guidance of surgical robotics using catheter transducers: Feasibility study
Author :
Whitman, J. ; Fronheiser, M.P. ; Smith, Sean W.
Author_Institution :
Dept. of Biomed. Eng., Duke Univ., Durham, NC
fDate :
5/1/2008 12:00:00 AM
Abstract :
The goal of this study was to test the feasibility of using a real-time 3-D (RT3D) ultrasound scanner with matrix array catheter probes to guide a surgical robot. We tested the accuracy of using 3-D catheter transducers with the 3-D measurement software of the scanner to direct automatically a robot arm that touched two needle tips together within a water tank and inside a vascular graft. RMS measurement error ranged from 2.4 to 3.4 mm for two catheter designs.
Keywords :
biomedical ultrasonics; catheters; medical robotics; surgery; ultrasonic imaging; 3D catheter transducers; 3D measurement software; 3D ultrasound guidance; real-time 3D ultrasound scanner; surgical robotics; vascular graft; Catheterization; Feasibility Studies; Imaging, Three-Dimensional; Robotics; Surgery, Computer-Assisted; Transducers; Ultrasonography; Ultrasonography, Interventional;
Journal_Title :
Ultrasonics, Ferroelectrics, and Frequency Control, IEEE Transactions on
DOI :
10.1109/TUFFC.2008.766
