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 language | English (US) |
|---|---|
| Title of host publication | Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) |
| Publisher | Springer Verlag |
| Pages | 1430-1432 |
| Number of pages | 3 |
| Volume | 2208 |
| ISBN (Print) | 3540426973, 9783540454687 |
| DOIs | |
| State | Published - 2001 |
| Event | 4th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2001 - Utrecht, Netherlands Duration: Oct 14 2001 → Oct 17 2001 |
Publication series
| Name | Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) |
|---|---|
| Volume | 2208 |
| ISSN (Print) | 03029743 |
| ISSN (Electronic) | 16113349 |
Other
| Other | 4th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2001 |
|---|---|
| Country | Netherlands |
| City | Utrecht |
| Period | 10/14/01 → 10/17/01 |
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ASJC Scopus subject areas
- Computer Science(all)
- Theoretical Computer Science
Cite this
A modular robotic system for ultrasound image acquisition. / Goldberg, Randal P.; Mazilu, Dumitru; Taylor, Russell H; Stoianovici, Dan.
Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Vol. 2208 Springer Verlag, 2001. p. 1430-1432 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 2208).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - A modular robotic system for ultrasound image acquisition
AU - Goldberg, Randal P.
AU - Mazilu, Dumitru
AU - Taylor, Russell H
AU - Stoianovici, Dan
PY - 2001
Y1 - 2001
N2 - 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.
AB - 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.
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UR - http://www.scopus.com/inward/citedby.url?scp=84958152175&partnerID=8YFLogxK
U2 - 10.1007/3-540-45468-3_256
DO - 10.1007/3-540-45468-3_256
M3 - Conference contribution
SN - 3540426973
SN - 9783540454687
VL - 2208
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 1430
EP - 1432
BT - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
PB - Springer Verlag
ER -