2J-3 3-D Ultrasound Guidance of Surgical Robotics: A Feasibility Study

The integration of real-time three-dimensional (RT3D) laparoscopic ultrasound with recent advances in robotic surgery can increase automation and ease of use for surgery in general, gynecological, and urological procedures. In this study, the 3D measurement system of the volumetric scanner used with a 1 cm diameter laparoscopic probe for RT3D imaging was tested as a guidance mechanism for a robotic linear motion system in order to simulate the feasibility of RT3D/robotic surgery integration. Using images acquired with the 3D laparoscopic ultrasound device, coordinates were acquired by the scanner and used to direct a robotically controlled needle towards desired in vitro targets. This system was also implemented for guiding a needle to organ boundaries in a post-mortem and an in vivo canine model. The RMS error for these measurements was 1.34 mm using optical alignment and 0.76 mm using ultrasound alignment