Please use this identifier to cite or link to this item: http://dlib.scu.ac.ir/handle/Hannan/720740
Title: Algorithms for Automatically Pointing Ultrasound Imaging Catheters
subject: surgical robotics;ultrasound (US) imaging;flexible manipulators;biomedical ultrasonics;catheters;manipulator kinematics;medical robotics;phantoms;position control
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Description: A system for automatically pointing ultrasound (US) imaging catheters will enable clinicians to monitor anatomical structures and track instruments during interventional procedures. Off-the-shelf US catheters provide high quality US images from within the patient. While this method of imaging has been proven to be effective for guiding many interventional treatments, significant training is required to overcome the difficulty in manually steering the imager to point at desired structures. Our system uses closed-form four degree of freedom (DOF) kinematic solutions to automatically position the US catheter and point the imager. Algorithms for steering and imager pointing were developed for a range of useful diagnostic and interventional motions. The system was validated on a robotic test bed by steering the catheter within a water environment containing phantom objects. While the system described here was designed for pointing ultrasound catheters, these algorithms are applicable to accurate 4-DOF steering and orientation control of any long thin tendon-driven tool with single or bi-directional bending.
Engineering and Applied Sciences
Proof
URI: http://dlib.scu.ac.ir/handle/Hannan/720740
http://nrs.harvard.edu/urn-3:HUL.InstRepos:41012473
More Information: Loschak, Paul M., Laura J. Brattain, and Robert D. Howe. 2017. Algorithms for Automatically Pointing Ultrasound Imaging Catheters. IEEE Transactions on Robotics 33, no. 1: 81-91.
1552-3098
1941-0468
10.1109/tro.2016.2623331
Appears in Collections:Faculty of Arts and Sciences

Files in This Item:
Click on the URI links for accessing contents.
Title: Algorithms for Automatically Pointing Ultrasound Imaging Catheters
subject: surgical robotics;ultrasound (US) imaging;flexible manipulators;biomedical ultrasonics;catheters;manipulator kinematics;medical robotics;phantoms;position control
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Description: A system for automatically pointing ultrasound (US) imaging catheters will enable clinicians to monitor anatomical structures and track instruments during interventional procedures. Off-the-shelf US catheters provide high quality US images from within the patient. While this method of imaging has been proven to be effective for guiding many interventional treatments, significant training is required to overcome the difficulty in manually steering the imager to point at desired structures. Our system uses closed-form four degree of freedom (DOF) kinematic solutions to automatically position the US catheter and point the imager. Algorithms for steering and imager pointing were developed for a range of useful diagnostic and interventional motions. The system was validated on a robotic test bed by steering the catheter within a water environment containing phantom objects. While the system described here was designed for pointing ultrasound catheters, these algorithms are applicable to accurate 4-DOF steering and orientation control of any long thin tendon-driven tool with single or bi-directional bending.
Engineering and Applied Sciences
Proof
URI: http://dlib.scu.ac.ir/handle/Hannan/720740
http://nrs.harvard.edu/urn-3:HUL.InstRepos:41012473
More Information: Loschak, Paul M., Laura J. Brattain, and Robert D. Howe. 2017. Algorithms for Automatically Pointing Ultrasound Imaging Catheters. IEEE Transactions on Robotics 33, no. 1: 81-91.
1552-3098
1941-0468
10.1109/tro.2016.2623331
Appears in Collections:Faculty of Arts and Sciences

Files in This Item:
Click on the URI links for accessing contents.
Title: Algorithms for Automatically Pointing Ultrasound Imaging Catheters
subject: surgical robotics;ultrasound (US) imaging;flexible manipulators;biomedical ultrasonics;catheters;manipulator kinematics;medical robotics;phantoms;position control
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Description: A system for automatically pointing ultrasound (US) imaging catheters will enable clinicians to monitor anatomical structures and track instruments during interventional procedures. Off-the-shelf US catheters provide high quality US images from within the patient. While this method of imaging has been proven to be effective for guiding many interventional treatments, significant training is required to overcome the difficulty in manually steering the imager to point at desired structures. Our system uses closed-form four degree of freedom (DOF) kinematic solutions to automatically position the US catheter and point the imager. Algorithms for steering and imager pointing were developed for a range of useful diagnostic and interventional motions. The system was validated on a robotic test bed by steering the catheter within a water environment containing phantom objects. While the system described here was designed for pointing ultrasound catheters, these algorithms are applicable to accurate 4-DOF steering and orientation control of any long thin tendon-driven tool with single or bi-directional bending.
Engineering and Applied Sciences
Proof
URI: http://dlib.scu.ac.ir/handle/Hannan/720740
http://nrs.harvard.edu/urn-3:HUL.InstRepos:41012473
More Information: Loschak, Paul M., Laura J. Brattain, and Robert D. Howe. 2017. Algorithms for Automatically Pointing Ultrasound Imaging Catheters. IEEE Transactions on Robotics 33, no. 1: 81-91.
1552-3098
1941-0468
10.1109/tro.2016.2623331
Appears in Collections:Faculty of Arts and Sciences

Files in This Item:
Click on the URI links for accessing contents.