Real-time 3D ultrasound-based servoing of a surgical instrument

Author

Stoll, Jeffrey ; Novotny, Paul ; Howe, Robert ; Dupont, Pierre

Author_Institution

Dept. of Aerosp. & Mech. Eng., Boston Univ., MA

fYear

2006

fDate

15-19 May 2006

Firstpage

613

Lastpage

618

Abstract

This paper presents a real-time 3D ultrasoundguided robotic system, designed to autonomously navigate a surgical instrument to surgeon-specified target points. The system tracks the instrument in real-time (2 Hz) using image processing. Thus, it does not require tracking of the ultrasound scan head. It makes use of a line detection algorithm and a passive instrument marker, which together report the instrument´s position and orientation (6 d.o.f.) from a single ultrasound image. Validation experiments are presented. The system controlled instrument position in a variety of image locations with a mean error of 0.8 mm

Keywords

image motion analysis; medical image processing; medical robotics; robot vision; ultrasonic imaging; image locations; image processing; line detection algorithm; real-time 3D ultrasoundguided robotic system; robotic surgery; surgical instrument; Detection algorithms; Head; Image processing; Navigation; Real time systems; Robots; Surges; Surgical instruments; Target tracking; Ultrasonic imaging;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on

Conference_Location

Orlando, FL

ISSN

1050-4729

Print_ISBN

0-7803-9505-0

Type

conf

DOI

10.1109/ROBOT.2006.1641778

Filename

1641778