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ICRA
2006
IEEE

Real-time 3D Ultrasound-based Servoing of a Surgical Instrument

13 years 9 months ago
Real-time 3D Ultrasound-based Servoing of a Surgical Instrument
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. †
Jeffrey A. Stoll, Paul M. Novotny, Robert D. Howe,
Added 11 Jun 2010
Updated 11 Jun 2010
Type Conference
Year 2006
Where ICRA
Authors Jeffrey A. Stoll, Paul M. Novotny, Robert D. Howe, Pierre E. Dupont
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