title: 3-D ultrasound guidance of autonomous robot for location of ferrous shrapnel.
abstract: Vibrations can be induced in ferromagnetic shrapnel by a variable electromagnet. Real time 3-D color Doppler ultrasound located the induced motion in a needle fragment and determined its 3-D position in the scanner coordinates. This information was used to guide a robot which moved a probe to touch the shrapnel fragment.
authors: Albert J
authors: AJ
authors: Rogers
authors: Edward D
authors: ED
authors: Light
authors: Stephen W
authors: SW
authors: Smith
mesh_terms: D005296:Ferrous Compounds / Q000032:analysis*; D005547:Foreign Bodies / Q000000981:diagnostic imaging* / Q000601:surgery; D006801:Humans; D021621:Imaging, Three-Dimensional / Q000295:instrumentation*; D012371:Robotics / Q000295:instrumentation*; D025321:Surgery, Computer-Assisted / Q000295:instrumentation* / Q000379:methods; D014159:Transducers; D018615:Ultrasonography, Doppler, Color / Q000295:instrumentation*; D018084:Ultrasonography, Interventional / Q000295:instrumentation*
chemical_list: D005296:Ferrous Compounds