Robot for ultrasound-guided prostate imaging and intervention

Chunwoo Kim, Felix Schäfer, Doyoung Chang, Doru Petrisor, Misop Han, Dan Stoianovici

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Citations (Scopus)

Abstract

The paper presents a new robot for manipulating a transrectal ultrasound probe for image-guided intervention of the prostate, the TRUS robot. The robot positions and orients the probe for image scanning and needle targeting of the prostate. Image slices and their respective position are mapped three-dimensionally to render volumetric images. The robot is designed to accommodate the constraints of the clinical prostate intervention. The robot includes all 4 degrees-of-freedom that are available in manual handling of the probe. In-vitro studies on pelvic mockups verify 3D imaging capabilities. The robot is clinically used in robot-assisted laparoscopic radical prostatectomy for providing intraoperative ultrasound-based navigation for the surgeon.

Original languageEnglish (US)
Title of host publicationIROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
Subtitle of host publicationCelebrating 50 Years of Robotics
Pages943-948
Number of pages6
DOIs
StatePublished - Dec 29 2011
Externally publishedYes
Event2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 - San Francisco, CA, United States
Duration: Sep 25 2011Sep 30 2011

Other

Other2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
CountryUnited States
CitySan Francisco, CA
Period9/25/119/30/11

Fingerprint

Ultrasonics
Robots
Imaging techniques
Mockups
Needles
Navigation
Scanning

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Kim, C., Schäfer, F., Chang, D., Petrisor, D., Han, M., & Stoianovici, D. (2011). Robot for ultrasound-guided prostate imaging and intervention. In IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics (pp. 943-948). [6048281] https://doi.org/10.1109/IROS.2011.6048281

Robot for ultrasound-guided prostate imaging and intervention. / Kim, Chunwoo; Schäfer, Felix; Chang, Doyoung; Petrisor, Doru; Han, Misop; Stoianovici, Dan.

IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics. 2011. p. 943-948 6048281.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Kim, C, Schäfer, F, Chang, D, Petrisor, D, Han, M & Stoianovici, D 2011, Robot for ultrasound-guided prostate imaging and intervention. in IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics., 6048281, pp. 943-948, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11, San Francisco, CA, United States, 9/25/11. https://doi.org/10.1109/IROS.2011.6048281
Kim C, Schäfer F, Chang D, Petrisor D, Han M, Stoianovici D. Robot for ultrasound-guided prostate imaging and intervention. In IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics. 2011. p. 943-948. 6048281 https://doi.org/10.1109/IROS.2011.6048281
Kim, Chunwoo ; Schäfer, Felix ; Chang, Doyoung ; Petrisor, Doru ; Han, Misop ; Stoianovici, Dan. / Robot for ultrasound-guided prostate imaging and intervention. IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics. 2011. pp. 943-948
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