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3-D ultrasound guidance of surgical robotics using catheter transducers: Feasibility study

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3 Author(s)
Whitman, J. ; Dept. of Biomed. Eng., Duke Univ., Durham, NC ; Fronheiser, M.P. ; Smith, S.W.

The goal of this study was to test the feasibility of using a real-time 3-D (RT3D) ultrasound scanner with matrix array catheter probes to guide a surgical robot. We tested the accuracy of using 3-D catheter transducers with the 3-D measurement software of the scanner to direct automatically a robot arm that touched two needle tips together within a water tank and inside a vascular graft. RMS measurement error ranged from 2.4 to 3.4 mm for two catheter designs.

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Ultrasonics, Ferroelectrics, and Frequency Control, IEEE Transactions on  (Volume:55 ,  Issue: 5 )