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

被引：25
|
作者：
Stoll, Jeffrey [1 ]
Novotny, Paul [2 ]
Howe, Robert [2 ]
Dupont, Pierre [1 ]
机构：
[1] Boston Univ, Aerosp & Mech Engn Dept, Boston, MA 02215 USA
[2] Harvard Univ, Div Engn & Appl Sci, Cambridge, MA 02138 USA
来源：
2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10 | 2006年
关键词：
robotic surgery; ultrasound; visual servoing;
D O I：
10.1109/ROBOT.2006.1641778
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents a real-time 3D ultrasound-guided 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.
引用
收藏
页码：613 / +
页数：2
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