Robot for ultrasound-guided prostate imaging and intervention

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

doi:10.1109/IROS.2011.6048281

Robot for ultrasound-guided prostate imaging and intervention

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

School of Medicine

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

11 Scopus citations

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 language	English (US)
Title of host publication	IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
Subtitle of host publication	Celebrating 50 Years of Robotics
Pages	943-948
Number of pages	6
DOIs	https://doi.org/10.1109/IROS.2011.6048281
State	Published - Dec 29 2011
Event	2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 - San Francisco, CA, United States Duration: Sep 25 2011 → Sep 30 2011

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems

Other

Other	2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
Country/Territory	United States
City	San Francisco, CA
Period	9/25/11 → 9/30/11

ASJC Scopus subject areas

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

Access to Document

10.1109/IROS.2011.6048281

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). Article 6048281 (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2011.6048281

Robot for ultrasound-guided prostate imaging and intervention. / Kim, Chunwoo; Schäfer, Felix; Chang, Doyoung et al.
IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics. 2011. p. 943-948 6048281 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference 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, IEEE International Conference on Intelligent Robots and Systems, 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. (IEEE International Conference on Intelligent Robots and Systems). doi: 10.1109/IROS.2011.6048281

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Robot for ultrasound-guided prostate imaging and intervention

Abstract

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