DocumentCode :
663867
Title :
Flat-panel ultrasound robot: A novel imaging concept and a novel motorized kinematics for an ultrasound probe during laparoscopic interventions
Author :
Gumprecht, Jan D. J. ; Geiger, Florian B. ; Stolzenburg, Jens-Uwe ; Lueth, Tim C.
Author_Institution :
Inst. of Micro Technol. & Med. Device Technol., Tech. Univ. Muenchen, Munich, Germany
fYear :
2013
fDate :
3-7 Nov. 2013
Firstpage :
3564
Lastpage :
3569
Abstract :
In this manuscript we propose a robot with a novel kinematics and a novel imaging concept for a transcutaneous ultrasound probe. The underlying goal is to provide a laparoscopic surgeon intraoperative real-time images from within the surgical field without additional man power. The robot is manually controlled by the surgeon through a joystick console. The device is divided into two separate chambers. One is filled with pressurized water and incorporates an transcutaneous ultrasound probe. It is covered with a flexible silicone membrane that is in contact with the patient. The second cavity incorporates the kinematics and is filled with pressurized air. The kinematics has four degrees of freedom (two translational and two rotatory). In this paper, we provide the mathematical description for the direct as well as for the indirect kinematics along with a validation experiment.
Keywords :
biomedical ultrasonics; interactive devices; medical image processing; medical robotics; membranes; robot kinematics; robot vision; surgery; flat-panel ultrasound robot; flexible silicone membrane; four degrees of freedom; imaging concept; indirect kinematics; joystick console; laparoscopic interventions; laparoscopic surgeon intraoperative real-time images; motorized kinematics; pressurized air; pressurized water; rotatory degrees of freedom; transcutaneous ultrasound probe; translational degrees of freedom; Kinematics; Laparoscopes; Probes; Robot kinematics; Surgery; Ultrasonic imaging;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on
Conference_Location :
Tokyo
ISSN :
2153-0858
Type :
conf
DOI :
10.1109/IROS.2013.6696864
Filename :
6696864
Link To Document :
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