3-D ultrasound guidance of surgical robotics: a feasibility study

• Published in: IEEE transactions on ultrasonics, ferroelectrics, and frequency control Vol. 53; no. 11; pp. 1999 - 2008
• Main Authors: Pua, Eric C., Fronheiser, Matthew P., Noble, Joanna R., Light, Edward D., Wolf, Patrick D., von Allmen, Daniel, Smith, Stephen W.
• Format: Journal Article
• Language: English
• Published: New York, NY IEEE 01.11.2006; Institute of Electrical and Electronics Engineers; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Acoustics; Alignment; Animals; Biological and medical sciences; Devices; Dogs; Equipment Design; Equipment Failure Analysis; Exact sciences and technology; Feasibility Studies; Fundamental areas of phenomenology (including applications); General equipment and techniques; Imaging, Three-Dimensional - instrumentation; Imaging, Three-Dimensional - methods; In vivo; Instruments, apparatus, components and techniques common to several branches of physics and astronomy; Investigative techniques, diagnostic techniques (general aspects); Laparoscopes; Laparoscopy - methods; Medical sciences; Miscellaneous. Technology; Optical imaging; Physics; Probes; Robot kinematics; Robotics; Robotics - instrumentation; Robotics - methods; Robotics and automation; Surgery; Surges; Surgical apparatus & instruments; Systems Integration; Transducers; Ultrasonic imaging; Ultrasonic investigative techniques; Ultrasonic variables measurement; Ultrasonics, quantum acoustics, and physical effects of sound; Ultrasonography, Interventional - instrumentation; Ultrasonography, Interventional - methods; Ultrasound; Human; Automation; Coelioscopy; Liver; Real time; Robotics; Guidance; Alignment; Surgery; Medical imagery; Feasibility; Tridimensional image; Acoustic image; Ultrasound; Measurement error
• ISSN: 0885-3010; 1525-8955
• DOI: 10.1109/TUFFC.2006.140

Laparoscopic ultrasound has seen increased use as a surgical aide in general, gynecological, and urological procedures. The application of real-time, three-dimensional (RT3D) ultrasound to these laparoscopic procedures may increase information available to the surgeon and serve as an additional intraoperative guidance tool. The integration of RT3D with recent advances in robotic surgery also can increase automation and ease of use. In this study, a 1-cm diameter probe for RT3D has been used laparoscopically for in vivo imaging of a canine. The probe, which operates at 5 MHz, was used to image the spleen, liver, and gall bladder as well as to guide surgical instruments. Furthermore, the three-dimensional (3-D) measurement system of the volumetric scanner used with this probe was tested as a guidance mechanism for a robotic linear motion system in order to simulate the feasibility of RT3D/robotic surgery integration. Using images acquired with the 3-D laparoscopic ultrasound device, coordinates were acquired by the scanner and used to direct a robotically controlled needle toward desired in vitro targets as well as targets in a post-mortem canine. The rms error for these measurements was 1.34 mm using optical alignment and 0.76 mm using ultrasound alignment