TY - JOUR
T1 - Enabling technologies for robot assisted ultrasound tomography
AU - Aalamifar, Fereshteh
AU - Khurana, Rishabh
AU - Cheng, Alexis
AU - Guo, Xiaoyu
AU - Iordachita, Iulian
AU - Boctor, Emad M.
N1 - Publisher Copyright:
Copyright © 2016 John Wiley & Sons, Ltd.
PY - 2017/3/1
Y1 - 2017/3/1
N2 - Currently available ultrasound (US) tomography systems suggest utilizing cylindrical transducers that can be used for a specific organ. In this paper, our focus is on an alternative way of creating US tomographic images that could be used for other anatomies and more general applications. This system consists of two conventional US probes facing each other while one or several of the transducers in one probe can act as the transmitter and the rest as the receiver. Aligning the two US probes is a challenging task. To address this issue, we propose a robot assisted US tomography system in which one probe is operated freehanded and another by a robotic arm. In this paper, enabling technologies for this system are described. With the current prototype, a reconstruction precision of 4.12, 1.73, and 2.23 mm for the three calibrations, and an overall alignment repeatability in the range of 5–9 mm were achieved.
AB - Currently available ultrasound (US) tomography systems suggest utilizing cylindrical transducers that can be used for a specific organ. In this paper, our focus is on an alternative way of creating US tomographic images that could be used for other anatomies and more general applications. This system consists of two conventional US probes facing each other while one or several of the transducers in one probe can act as the transmitter and the rest as the receiver. Aligning the two US probes is a challenging task. To address this issue, we propose a robot assisted US tomography system in which one probe is operated freehanded and another by a robotic arm. In this paper, enabling technologies for this system are described. With the current prototype, a reconstruction precision of 4.12, 1.73, and 2.23 mm for the three calibrations, and an overall alignment repeatability in the range of 5–9 mm were achieved.
KW - hand–eye calibration
KW - robotic ultrasound
KW - ultrasound calibration
KW - ultrasound tomography
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U2 - 10.1002/rcs.1746
DO - 10.1002/rcs.1746
M3 - Article
C2 - 27028676
AN - SCOPUS:84963507310
SN - 1478-5951
VL - 13
JO - International Journal of Medical Robotics and Computer Assisted Surgery
JF - International Journal of Medical Robotics and Computer Assisted Surgery
IS - 1
M1 - e1746
ER -