DocumentCode
1224515
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
Volume
55
Issue
5
fYear
2008
fDate
5/1/2008 12:00:00 AM
Firstpage
1143
Lastpage
1145
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;
fLanguage
English
Journal_Title
Ultrasonics, Ferroelectrics, and Frequency Control, IEEE Transactions on
Publisher
ieee
ISSN
0885-3010
Type
jour
DOI
10.1109/TUFFC.2008.766
Filename
4524994
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