Title :
Real-Time Visual Servoing of a Robot Using Three-Dimensional Ultrasound
Author :
Novotny, Paul M. ; Stoll, Jeffrey A. ; Dupont, Pierre E. ; Howe, Robert D.
Author_Institution :
Sch. of Eng. & Appl. Sci., Harvard Univ., Cambridge, MA
Abstract :
This paper presents a robotic system capable of using three-dimensional ultrasound to guide a surgical instrument to a tracked target location. Tracking of both the surgical instrument and target was done using image based algorithms on the real-time 3D ultrasound data. The tracking techniques are shown to be especially amenable for execution on powerful graphics processor units. By harnessing a graphics card, it was possible to detect both a surgical instrument and a surgical target at a rate of 25 Hz. The high update rate permits the use of tracked instrument and target locations for controlling a robot. Validation of the system was done in a water tank, where the robot moved the instrument to the target site with a mean error of 1.2 mm
Keywords :
medical robotics; position control; robot vision; surgery; ultrasonic imaging; visual servoing; 3D ultrasound; image based algorithm; instrument tracking; real-time visual servoing; robot control; robot vision; surgical instrument; target tracking; Graphics; Heart; Minimally invasive surgery; Robot control; Robotics and automation; Surgical instruments; Target tracking; USA Councils; Ultrasonic imaging; Visual servoing;
Conference_Titel :
Robotics and Automation, 2007 IEEE International Conference on
Conference_Location :
Roma
Print_ISBN :
1-4244-0601-3
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2007.363866