3-D ultrasound guidance of surgical robotics using catheter transducers: feasibility study.
The goal of this study was to test the feasibility of using a real-time 3-D (RT3D) ultrasound scanner with matrix array catheter probes to guide a surgical robot. We tested the accuracy of using 3-D catheter transducers with the 3-D measurement software of the scanner to direct automatically a robot arm that touched two needle tips together within a water tank and inside a vascular graft. RMS measurement error ranged from 2.4 to 3.4 mm for two catheter designs.
Whitman
J
J
Fronheiser
M P
MP
Smith
S W
SW
D002404:Catheterization; D005240:Feasibility Studies; D021621:Imaging, Three-Dimensional / Q000295:instrumentation*; D012371:Robotics / Q000295:instrumentation* / Q000379:methods; D025321:Surgery, Computer-Assisted / Q000295:instrumentation* / Q000379:methods; D014159:Transducers; D014463:Ultrasonography / Q000295:instrumentation* / Q000379:methods; D018084:Ultrasonography, Interventional / Q000295:instrumentation* / Q000379:methods