3-D ultrasound guidance of autonomous robot for location of ferrous shrapnel

Vibrations can be induced in ferromagnetic shrapnel by a variable electromagnet. Real time 3-D color Doppler ultrasound located the induced motion in a needle fragment and determined its 3-D position in the scanner coordinates. This information was used to guide a robot which moved a probe to touch...

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Bibliographic Details
Published in:IEEE transactions on ultrasonics, ferroelectrics, and frequency control ferroelectrics, and frequency control, 2009-07, Vol.56 (7), p.1301-1303
Main Authors: Rogers, A.J., Light, E.D., Smith, S.W.
Format: Article
Language:English
Subjects:
Acoustic transducers
Autonomous
Biological and medical sciences
Biomedical engineering
Biomedical transducers
Electromagnets
Ferromagnetism
Ferrous Compounds - analysis
Foreign Bodies - diagnostic imaging
Foreign Bodies - surgery
Fragmentation
Humans
Image converters
Imaging, Three-Dimensional - instrumentation
Medical sciences
Needles
Position (location)
Probes
Rendering (computer graphics)
Robot kinematics
Robotics - instrumentation
Robots
Shrapnel
Surgery (general aspects). Transplantations, organ and tissue grafts. Graft diseases
Surgery, Computer-Assisted - instrumentation
Surgery, Computer-Assisted - methods
Transducers
Ultrasonic imaging
Ultrasonography, Doppler, Color - instrumentation
Ultrasonography, Interventional - instrumentation
Ultrasound
Vibration
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Description
Summary:Vibrations can be induced in ferromagnetic shrapnel by a variable electromagnet. Real time 3-D color Doppler ultrasound located the induced motion in a needle fragment and determined its 3-D position in the scanner coordinates. This information was used to guide a robot which moved a probe to touch the shrapnel fragment.
ISSN:0885-3010
1525-8955
DOI:10.1109/TUFFC.2009.1185