@inproceedings{2c59a9151f874e108b6146a620a57044,
title = "A modular robotic system for ultrasound image acquisition",
abstract = "This paper reports a modular robotic system currently in development for performing intra-operative 3-D ultrasound scans. The final goal is to be able to utilize ultrasound as a guidance and imaging modality for a variety of computer integrated surgery applications by overcoming the limits it{\textquoteright}s handheld nature presents. The primary component of the system is a compact 3 DOF robot called the Translational Remote Center of Motion Robot (TRCM). This unit, which can be used standalone or as a dexterity end effector for a larger degree of freedom base robot, can perform the motions necessary to locate and perform force controlled scans of target anatomy quickly and safely. This relatively inexpensive unit, while designed with the ultrasound application in mind, also becomes a useful general purpose robot for any application in which an RCM mechanism is desired.",
author = "Goldberg, {Randal P.} and Mazilu Dumitru and Taylor, {Russell H.} and Dan Stoianovici",
year = "2001",
month = jan
day = "1",
doi = "10.1007/3-540-45468-3_256",
language = "English (US)",
isbn = "3540426973",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer Verlag",
pages = "1430--1432",
editor = "Niessen, {Wiro J.} and Viergever, {Max A.}",
booktitle = "Medical Image Computing and Computer-Assisted Intervention - MICCAI 2001 - 4th International Conference, Proceedings",
note = "4th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2001 ; Conference date: 14-10-2001 Through 17-10-2001",
}