Title :
3-D ultrasound guidance of autonomous robot for location of ferrous shrapnel
Author :
Rogers, Albert J. ; Light, Edward D. ; Smith, Stephen W.
Author_Institution :
Biomed. Eng. Dept., Duke Univ., Durham, NC
fDate :
7/1/2009 12:00:00 AM
Abstract :
Vibrations can be induced in ferromagnetic shrapnel by a variable electromagnet. Real time 3-D color Doppler ultrasound located the induced motion in a needle fragment and determined its 3-D position in the scanner coordinates. This information was used to guide a robot which moved a probe to touch the shrapnel fragment.
Keywords :
Doppler effect; biomedical ultrasonics; medical robotics; mobile robots; vibrations; 3D color Doppler ultrasound; 3D position; autonomous robot; ferromagnetic shrapnel; ferrous shrapnel; needle fragment; variable electromagnet; vibrations; Acoustic transducers; Biomedical engineering; Biomedical transducers; Electromagnets; Image converters; Needles; Probes; Rendering (computer graphics); Robot kinematics; Ultrasonic imaging; Ferrous Compounds; Foreign Bodies; Humans; Imaging, Three-Dimensional; Robotics; Surgery, Computer-Assisted; Transducers; Ultrasonography, Doppler, Color; Ultrasonography, Interventional;
Journal_Title :
Ultrasonics, Ferroelectrics, and Frequency Control, IEEE Transactions on
DOI :
10.1109/TUFFC.2009.1185
