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Real time 3D ultrasound in guidance of autonomous surgical robot for shrapnel detection and breast biopsy.

Publication ,  Journal Article
Rogers, AJ; Light, ED; Von Allmen, D; Smith, SW
Published in: Progress in Biomedical Optics and Imaging - Proceedings of SPIE
June 19, 2009

Two studies have been conducted using real time 3D ultrasound and an automated robot system for carrying out surgical tasks. The first task is to perform a breast lesion biopsy automatically after detection by ultrasound. Combining 3D ultrasound with traditional mammography allows real time guidance of the biopsy needle. Image processing techniques analyze volumes to calculate the location of a target lesion. This position was converted into the coordinate system of a three axis robot which moved a needle probe to touch the lesion. The second task is to remove shrapnel from a tissue phantom autonomously. In some emergency situations, shrapnel detection in the body is necessary for quick treatment. Furthermore, small or uneven shrapnel geometry may hinder location by typical ultrasound imaging methods. Vibrations and small displacements can be induced in ferromagnetic shrapnel by a variable electromagnet. We used real time 3D color Doppler to locate this motion for 2 mm long needle fragments and determined the 3D position of the fragment in the scanner coordinates. The rms error of the image guided robot for 5 trials was 1.06 mm for this task which was accomplished in 76 seconds. © 2009 SPIE.

Duke Scholars

Published In

Progress in Biomedical Optics and Imaging - Proceedings of SPIE

DOI

ISSN

1605-7422

Publication Date

June 19, 2009

Volume

7265
 

Citation

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Rogers, A. J., Light, E. D., Von Allmen, D., & Smith, S. W. (2009). Real time 3D ultrasound in guidance of autonomous surgical robot for shrapnel detection and breast biopsy. Progress in Biomedical Optics and Imaging - Proceedings of SPIE, 7265. https://doi.org/10.1117/12.808234
Rogers, A. J., E. D. Light, D. Von Allmen, and S. W. Smith. “Real time 3D ultrasound in guidance of autonomous surgical robot for shrapnel detection and breast biopsy.Progress in Biomedical Optics and Imaging - Proceedings of SPIE 7265 (June 19, 2009). https://doi.org/10.1117/12.808234.
Rogers AJ, Light ED, Von Allmen D, Smith SW. Real time 3D ultrasound in guidance of autonomous surgical robot for shrapnel detection and breast biopsy. Progress in Biomedical Optics and Imaging - Proceedings of SPIE. 2009 Jun 19;7265.
Rogers, A. J., et al. “Real time 3D ultrasound in guidance of autonomous surgical robot for shrapnel detection and breast biopsy.Progress in Biomedical Optics and Imaging - Proceedings of SPIE, vol. 7265, June 2009. Scopus, doi:10.1117/12.808234.
Rogers AJ, Light ED, Von Allmen D, Smith SW. Real time 3D ultrasound in guidance of autonomous surgical robot for shrapnel detection and breast biopsy. Progress in Biomedical Optics and Imaging - Proceedings of SPIE. 2009 Jun 19;7265.

Published In

Progress in Biomedical Optics and Imaging - Proceedings of SPIE

DOI

ISSN

1605-7422

Publication Date

June 19, 2009

Volume

7265