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Proceedings Paper

Robotically assisted ultrasound interventions
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Paper Abstract

The goal of this project is to develop a robotic system to assist the physician in minimally invasive ultrasound interventions. In current practice, the physician must manually hold the ultrasound probe in one hand and manipulate the needle with the other hand, which can be challenging, particularly when trying to target small lesions. To assist the physician, the robot should not only be capable of providing the spatial movement needed, but also be able to control the contact force between the ultrasound probe and patient. To meet these requirements, we are developing a prototype system based on a six degree of freedom parallel robot. The system will provide high bandwidth, precision motion, and force control. In this paper we report on our progress to date, including the development of a PC-based control system and the results of our initial experiments.

Paper Details

Date Published: 17 March 2008
PDF: 8 pages
Proc. SPIE 6918, Medical Imaging 2008: Visualization, Image-Guided Procedures, and Modeling, 691827 (17 March 2008); doi: 10.1117/12.772729
Show Author Affiliations
Jienan Ding, Georgetown Univ. (United States)
Tianjin Univ. (China)
Dan Swerdlow, Georgetown Univ. Hospital (United States)
Shuxin Wang, Tianjin Univ. (China)
Emmanuel Wilson, Georgetown Univ. (United States)
Jonathan Tang, Georgetown Univ. (United States)
Kevin Cleary, Georgetown Univ. (United States)


Published in SPIE Proceedings Vol. 6918:
Medical Imaging 2008: Visualization, Image-Guided Procedures, and Modeling
Michael I. Miga; Kevin Robert Cleary, Editor(s)

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