Robotically assisted ablative treatment guided by freehand 3D ultrasound

Emad Boctor, Robert J. Webster, Michael A. Choti, Russell H Taylor, Gabor Fichtinger

Research output: Contribution to journalArticle

Abstract

Robots can improve the accuracy of image-guided needle placement over traditional freehand techniques. While many research groups have demonstrated this, widespread clinical adoption of needle placement robots has not immediately followed, because (1) robots are generally expensive and (2) they are difficult to calibrate and register to the patient in a manner fast and user-friendly enough to be practical in the operating room. Our solution to these considerations is a novel, clinically applicable, low-cost system consisting of a robot (manipulating the needle through a surgeon-specified trajectory), guided by tracked freehand three-dimensional ultrasound (3DUS). We address cost by algorithmically enabling the robot to be unencoded, uncalibrated, and mechanically simple. We address ease of use by eliminating pre-operative registration, and nearly eliminating calibration. The surgical tool is tracked and thereby registered imager intra-operatively. A structured 3DUS volume, created using a tracked conventional 2DUS probe, provides the basis for accurate and reliable volumetric visualization, simulation, and planning. The system components are integrated using a 3D Slicer-based software package. Experiments have been conducted on both mechanical and calf liver phantoms (with embedded olives simulating tumors) with an overall accuracy of 2.54 mm and a targeting success rate of 100%.

Original languageEnglish (US)
Pages (from-to)503-508
Number of pages6
JournalInternational Congress Series
Volume1268
Issue numberC
DOIs
StatePublished - Jun 1 2004

Fingerprint

Needles
Costs and Cost Analysis
Olea
Operating Rooms
Calibration
Therapeutics
Software
Liver
Research
Neoplasms
Surgeons

Keywords

  • 3D ultrasound
  • Calibration
  • Image guided therapy
  • Medical robotics
  • Visual servoing

ASJC Scopus subject areas

  • Medicine(all)

Cite this

Robotically assisted ablative treatment guided by freehand 3D ultrasound. / Boctor, Emad; Webster, Robert J.; Choti, Michael A.; Taylor, Russell H; Fichtinger, Gabor.

In: International Congress Series, Vol. 1268, No. C, 01.06.2004, p. 503-508.

Research output: Contribution to journalArticle

Boctor, Emad ; Webster, Robert J. ; Choti, Michael A. ; Taylor, Russell H ; Fichtinger, Gabor. / Robotically assisted ablative treatment guided by freehand 3D ultrasound. In: International Congress Series. 2004 ; Vol. 1268, No. C. pp. 503-508.
@article{bd9f235f35c645b38e54664935a733b4,
title = "Robotically assisted ablative treatment guided by freehand 3D ultrasound",
abstract = "Robots can improve the accuracy of image-guided needle placement over traditional freehand techniques. While many research groups have demonstrated this, widespread clinical adoption of needle placement robots has not immediately followed, because (1) robots are generally expensive and (2) they are difficult to calibrate and register to the patient in a manner fast and user-friendly enough to be practical in the operating room. Our solution to these considerations is a novel, clinically applicable, low-cost system consisting of a robot (manipulating the needle through a surgeon-specified trajectory), guided by tracked freehand three-dimensional ultrasound (3DUS). We address cost by algorithmically enabling the robot to be unencoded, uncalibrated, and mechanically simple. We address ease of use by eliminating pre-operative registration, and nearly eliminating calibration. The surgical tool is tracked and thereby registered imager intra-operatively. A structured 3DUS volume, created using a tracked conventional 2DUS probe, provides the basis for accurate and reliable volumetric visualization, simulation, and planning. The system components are integrated using a 3D Slicer-based software package. Experiments have been conducted on both mechanical and calf liver phantoms (with embedded olives simulating tumors) with an overall accuracy of 2.54 mm and a targeting success rate of 100{\%}.",
keywords = "3D ultrasound, Calibration, Image guided therapy, Medical robotics, Visual servoing",
author = "Emad Boctor and Webster, {Robert J.} and Choti, {Michael A.} and Taylor, {Russell H} and Gabor Fichtinger",
year = "2004",
month = "6",
day = "1",
doi = "10.1016/j.ics.2004.03.261",
language = "English (US)",
volume = "1268",
pages = "503--508",
journal = "International Congress Series",
issn = "0531-5131",
publisher = "Elsevier BV",
number = "C",

}

TY - JOUR

T1 - Robotically assisted ablative treatment guided by freehand 3D ultrasound

AU - Boctor, Emad

AU - Webster, Robert J.

AU - Choti, Michael A.

AU - Taylor, Russell H

AU - Fichtinger, Gabor

PY - 2004/6/1

Y1 - 2004/6/1

N2 - Robots can improve the accuracy of image-guided needle placement over traditional freehand techniques. While many research groups have demonstrated this, widespread clinical adoption of needle placement robots has not immediately followed, because (1) robots are generally expensive and (2) they are difficult to calibrate and register to the patient in a manner fast and user-friendly enough to be practical in the operating room. Our solution to these considerations is a novel, clinically applicable, low-cost system consisting of a robot (manipulating the needle through a surgeon-specified trajectory), guided by tracked freehand three-dimensional ultrasound (3DUS). We address cost by algorithmically enabling the robot to be unencoded, uncalibrated, and mechanically simple. We address ease of use by eliminating pre-operative registration, and nearly eliminating calibration. The surgical tool is tracked and thereby registered imager intra-operatively. A structured 3DUS volume, created using a tracked conventional 2DUS probe, provides the basis for accurate and reliable volumetric visualization, simulation, and planning. The system components are integrated using a 3D Slicer-based software package. Experiments have been conducted on both mechanical and calf liver phantoms (with embedded olives simulating tumors) with an overall accuracy of 2.54 mm and a targeting success rate of 100%.

AB - Robots can improve the accuracy of image-guided needle placement over traditional freehand techniques. While many research groups have demonstrated this, widespread clinical adoption of needle placement robots has not immediately followed, because (1) robots are generally expensive and (2) they are difficult to calibrate and register to the patient in a manner fast and user-friendly enough to be practical in the operating room. Our solution to these considerations is a novel, clinically applicable, low-cost system consisting of a robot (manipulating the needle through a surgeon-specified trajectory), guided by tracked freehand three-dimensional ultrasound (3DUS). We address cost by algorithmically enabling the robot to be unencoded, uncalibrated, and mechanically simple. We address ease of use by eliminating pre-operative registration, and nearly eliminating calibration. The surgical tool is tracked and thereby registered imager intra-operatively. A structured 3DUS volume, created using a tracked conventional 2DUS probe, provides the basis for accurate and reliable volumetric visualization, simulation, and planning. The system components are integrated using a 3D Slicer-based software package. Experiments have been conducted on both mechanical and calf liver phantoms (with embedded olives simulating tumors) with an overall accuracy of 2.54 mm and a targeting success rate of 100%.

KW - 3D ultrasound

KW - Calibration

KW - Image guided therapy

KW - Medical robotics

KW - Visual servoing

UR - http://www.scopus.com/inward/record.url?scp=79960993731&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=79960993731&partnerID=8YFLogxK

U2 - 10.1016/j.ics.2004.03.261

DO - 10.1016/j.ics.2004.03.261

M3 - Article

VL - 1268

SP - 503

EP - 508

JO - International Congress Series

JF - International Congress Series

SN - 0531-5131

IS - C

ER -