Autonomous surgical robotics using 3-D ultrasound guidance: feasibility study.

Journal Article (Journal Article)

The goal of this study was to test the feasibility of using a real-time 3D (RT3D) ultrasound scanner with a transthoracic matrix array transducer probe to guide an autonomous surgical robot. Employing a fiducial alignment mark on the transducer to orient the robot's frame of reference and using simple thresholding algorithms to segment the 3D images, we tested the accuracy of using the scanner to automatically direct a robot arm that touched two needle tips together within a water tank. RMS measurement error was 3.8% or 1.58 mm for an average path length of 41 mm. Using these same techniques, the autonomous robot also performed simulated needle biopsies of a cyst-like lesion in a tissue phantom. This feasibility study shows the potential for 3D ultrasound guidance of an autonomous surgical robot for simple interventional tasks, including lesion biopsy and foreign body removal.

Full Text

Duke Authors

Cited Authors

  • Whitman, J; Fronheiser, MP; Ivancevich, NM; Smith, SW

Published Date

  • October 2007

Published In

Volume / Issue

  • 29 / 4

Start / End Page

  • 213 - 219

PubMed ID

  • 18481593

Electronic International Standard Serial Number (EISSN)

  • 1096-0910

International Standard Serial Number (ISSN)

  • 0161-7346

Digital Object Identifier (DOI)

  • 10.1177/016173460702900402


  • eng