Real-time 3D ultrasound guidance of autonomous surgical robot for shrapnel detection and breast biopsy

2009 ◽  
Author(s):  
Albert J. Rogers ◽  
Edward D. Light ◽  
Daniel von Allmen ◽  
Stephen W. Smith
Keyword(s):  
Real Time ◽  
Ultrasound Guidance ◽  
Breast Biopsy ◽  
3D Ultrasound ◽  
Surgical Robot

scholarly journals Simulation of Autonomous Robotic Multiple-Core Biopsy by 3D Ultrasound Guidance

2010 ◽  
Vol 32 (2) ◽  
pp. 118-127 ◽  
Author(s):  
Kaicheng Liang ◽  
Albert J. Rogers ◽  
Edward D. Light ◽  
Daniel von Allmen ◽  
Stephen W. Smith
Keyword(s):  
Core Biopsy ◽  
Degrees Of Freedom ◽  
Ultrasound Guidance ◽  
Breast Biopsy ◽  
3D Ultrasound ◽  
Single Session ◽  
Clinical Procedures ◽  
Tissue Phantom ◽  
Image Volume ◽  
Needle Sticks

An autonomous multiple-core biopsy system guided by real-time 3D ultrasound and operated by a robotic arm with 6+1 degrees of freedom has been developed. Using a specimen of turkey breast as a tissue phantom, our system was able to first autonomously locate the phantom in the image volume and then perform needle sticks in each of eight sectors in the phantom in a single session, with no human intervention required. Based on the fraction of eight sectors successfully sampled in an experiment of five trials, a success rate of 93% was recorded. This system could have relevance in clinical procedures that involve multiple needle-core sampling such as prostate or breast biopsy.

Autonomous Surgical Robotics Using 3-D Ultrasound Guidance: Feasibility Study

2007 ◽  
Vol 29 (4) ◽  
pp. 213-219 ◽  
Author(s):  
John Whitman ◽  
Matthew P. Fronheiser ◽  
Nikolas M. Ivancevich ◽  
Stephen W. Smith
Keyword(s):  
Feasibility Study ◽  
Ultrasound Guidance ◽  
3D Ultrasound ◽  
Surgical Robot ◽  
Water Tank ◽  
Robot Arm ◽  
Tissue Phantom ◽  
Array Transducer ◽  
Alignment Mark ◽  
Transducer Probe

The goal of this study was to test the feasibility of using a real-time 3D (RT3D) ultrasound scanner with a transthoracic matrix array transducer probe to guide an autonomous surgical robot. Employing a fiducial alignment mark on the transducer to orient the robot's frame of reference and using simple thresholding algorithms to segment the 3D images, we tested the accuracy of using the scanner to automatically direct a robot arm that touched two needle tips together within a water tank. RMS measurement error was 3.8% or 1.58 mm for an average path length of 41 mm. Using these same techniques, the autonomous robot also performed simulated needle biopsies of a cyst-like lesion in a tissue phantom. This feasibility study shows the potential for 3D ultrasound guidance of an autonomous surgical robot for simple interventional tasks, including lesion biopsy and foreign body removal.

Towards real-time, tracker-less 3D ultrasound guidance for spine anaesthesia

2015 ◽  
Vol 10 (6) ◽  
pp. 855-865 ◽  
Author(s):  
Mikael Brudfors ◽  
Alexander Seitel ◽  
Abtin Rasoulian ◽  
Andras Lasso ◽  
Victoria A. Lessoway ◽  
...  
Keyword(s):  
Real Time ◽  
Ultrasound Guidance ◽  
3D Ultrasound

scholarly journals Online 4D ultrasound guidance for real-time motion compensation by MLC tracking

2016 ◽  
Vol 43 (10) ◽  
pp. 5695-5704 ◽  
Author(s):  
Svenja Ipsen ◽  
Ralf Bruder ◽  
Rick O’Brien ◽  
Paul J. Keall ◽  
Achim Schweikard ◽  
...  
Keyword(s):  
Real Time ◽  
Motion Compensation ◽  
Ultrasound Guidance ◽  
Time Motion ◽  
4D Ultrasound
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