A modular robotic system for ultrasound image acquisition

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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’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.

Original languageEnglish (US)
Title of host publicationMedical Image Computing and Computer-Assisted Intervention - MICCAI 2001 - 4th International Conference, Proceedings
EditorsWiro J. Niessen, Max A. Viergever
PublisherSpringer Verlag
Pages1430-1432
Number of pages3
ISBN (Print)3540426973, 9783540454687
DOIs
StatePublished - Jan 1 2001
Event4th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2001 - Utrecht, Netherlands
Duration: Oct 14 2001Oct 17 2001

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume2208
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Other

Other4th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2001
CountryNetherlands
CityUtrecht
Period10/14/0110/17/01

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ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

Cite this

Goldberg, R. P., Dumitru, M., Taylor, R. H., & Stoianovici, D. (2001). A modular robotic system for ultrasound image acquisition. In W. J. Niessen, & M. A. Viergever (Eds.), Medical Image Computing and Computer-Assisted Intervention - MICCAI 2001 - 4th International Conference, Proceedings (pp. 1430-1432). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 2208). Springer Verlag. https://doi.org/10.1007/3-540-45468-3_256