3-D ultrasound guidance of autonomous surgical robotics: Feasibility studies

In 2006 our laboratory showed that a matrix array endoscope capable of real-time 3D (RT3D) scanning could be used to guide a surgical robot with an rms error of less than 2mm. In 2007, image segmentation software was developed to achieve autonomous RT3D guidance of the robot with no human/robot interaction required, and a cyst phantom in tissue-mimicking slurry was successfully targeted. In this paper, we examine three new topics in autonomous robotic guidance: (1) cyst biopsy in breast tissue, (2) the detection of ferrous shrapnel, and (3) prostate biopsy. We tested the accuracy of the scanner in automatically directing a robot arm which performed the said tasks on suitable tissue phantoms in a water tank.