Abstract
There has been increased interest in minimally invasive ablative treatments that typically require precise placement of the ablator tool to meet the predefined planning and lead to efficient tumor destruction. Standard ablative procedures involve free hand transcutaneous ultrasonography (TCUS) in conjunction with manual tool positioning. Unfortunately, existing TCUS systems suffer from many limitations and result in failure to identify nearly half of all treatable liver lesions. Freehand manipulation of the ultrasound (US) probe and ablator tool lacks the critical level of control, accuracy, stability, and guaranteed performance required for these procedures. Freehand US results in undefined gap distribution, anatomic deformation due to variable pressure from the sonographer's hand, and severe difficulty in maintaining optimal scanning position. In response to these limitations, we propose the use of a dual robotic arm system that manages both ultrasound manipulation and needle guidance. We report a prototype of the dual arm system and a comparative performance analysis between robotic vs. freehand systems, for both US scanning and needle placement in mechanical and animal tissue phantoms.
Original language | English (US) |
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Title of host publication | Proceedings - IEEE International Conference on Robotics and Automation |
Pages | 2517-2522 |
Number of pages | 6 |
Volume | 2004 |
Edition | 3 |
State | Published - 2004 |
Event | Proceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States Duration: Apr 26 2004 → May 1 2004 |
Other
Other | Proceedings- 2004 IEEE International Conference on Robotics and Automation |
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Country/Territory | United States |
City | New Orleans, LA |
Period | 4/26/04 → 5/1/04 |
Keywords
- 3D Ultrasound
- Image Guided Surgery
- Image Guided Therapy
- Robotic Needle Placement
- Robotic Ultrasound
- Thermal Ablation
- Tracking
ASJC Scopus subject areas
- Software
- Control and Systems Engineering