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Proceedings Paper

Enabling technologies for natural orifice transluminal endoscopic surgery (N.O.T.E.S) using robotically guided elasticity imaging
Author(s): H. Tutkun Sen; Nishikant Deshmukh; Roger Goldman; Peter Kazanzides; Russell H. Taylor; Emad Boctor; Nabil Simaan
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Paper Abstract

Natural orifice transluminal endoscopic surgery (N.O.T.E.S) is a minimally invasive surgical technique that could benefit greatly from additional methods for intraoperative detection of tissue malignancies (using elastography) along with more precise control of surgical tools. Ultrasound elastography has proven itself as an invaluable imaging modality. However, elasticity images typically suffer from low contrast when imaging organs from the surface of the body. In addition, the palpation motions needed to generate elastography images useful for identifying clinically significant changes in tissue properties are difficult to produce because they require precise axial displacements along the imaging plane. Improvements in elasticity imaging necessitate an approach that simultaneously removes the need for imaging from the body surface while providing more precise palpation motions. As a first step toward performing N.O.T.E.S in-vivo, we integrated a phased ultrasonic micro-array with a flexible snake-like robot. The integrated system is used to create elastography images of a spherical isoechoic lesion (approximately 5mm in cross-section) in a tissue-mimicking phantom. Images are obtained by performing robotic palpation of the phantom at the location of the lesion.

Paper Details

Date Published: 17 February 2012
PDF: 8 pages
Proc. SPIE 8316, Medical Imaging 2012: Image-Guided Procedures, Robotic Interventions, and Modeling, 83161Y (17 February 2012); doi: 10.1117/12.912383
Show Author Affiliations
H. Tutkun Sen, The Johns Hopkins Univ. (United States)
Nishikant Deshmukh, The Johns Hopkins Univ. (United States)
Roger Goldman, Columbia Univ. (United States)
Peter Kazanzides, The Johns Hopkins Univ. (United States)
Russell H. Taylor, The Johns Hopkins Univ. (United States)
Emad Boctor, The Johns Hopkins Univ. (United States)
Nabil Simaan, Vanderbilt Univ. (United States)

Published in SPIE Proceedings Vol. 8316:
Medical Imaging 2012: Image-Guided Procedures, Robotic Interventions, and Modeling
David R. Holmes; Kenneth H. Wong, Editor(s)

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