Remote ultrasound palpation for robotic interventions using absolute elastography

Authors:
Caitlin Schneider;Ali Baghani;Robert Rohling;Septimiu Salcudean
Affiliations:
Department of Electrical and Computer Engineering, University of British Columbia, Vancouver, BC, Canada;Department of Electrical and Computer Engineering, University of British Columbia, Vancouver, BC, Canada;Department of Electrical and Computer Engineering, University of British Columbia, Vancouver, BC, Canada, Department of Mechanical Engineering, University of British Columbia, Vancouver, BC, Canad ...;Department of Electrical and Computer Engineering, University of British Columbia, Vancouver, BC, Canada
Venue:
MICCAI'12 Proceedings of the 15th international conference on Medical Image Computing and Computer-Assisted Intervention - Volume Part I
Year:
2012

Citing 3
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MICCAI'12 Proceedings of the 15th international conference on Medical Image Computing and Computer-Assisted Intervention - Volume Part II

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Abstract

Although robotic surgery has addressed many of the challenges presented by minimally invasive surgery, haptic feedback and the lack of knowledge of tissue stiffness is an unsolved problem. This paper presents a system for finding the absolute elastic properties of tissue using a freehand ultrasound scanning technique, which utilizes the da Vinci Surgical robot and a custom 2D ultrasound transducer for intra-operative use. An external exciter creates shear waves in the tissue, and a local frequency estimation method computes the shear modulus. Results are reported for both phantom and in vivo models. This system can be extended to any 6 degree-of-freedom tracking method and any 2D transducer to provide real-time absolute elastic properties of tissue.