Abstract
A new robotic system for trans-rectal ultrasound (TRUS) imaging during robot-assisted laparoscopic radical prostatectomy is described. The system consists of three main parts: a robotic probe manipulator (robot), an ultrasound machine with a biplane TRUS probe, and control and image processing software. A review of prior use of TRUS during prostatectomy is provided in order to demonstrate the potential benefits of such intra-operative imaging. The ability of the system to capture two-dimensional and three-dimensional B-mode and elastography data is demonstrated using a prostate phantom. A registration method that can be used for instrument tracking in RALRP is described and tested. Initial patient images captured using the system are presented.
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Adebar, T., Salcudean, S., Mahdavi, S., Moradi, M., Nguan, C., Goldenberg, L. (2011). A Robotic System for Intra-operative Trans-Rectal Ultrasound and Ultrasound Elastography in Radical Prostatectomy. In: Taylor, R.H., Yang, GZ. (eds) Information Processing in Computer-Assisted Interventions. IPCAI 2011. Lecture Notes in Computer Science, vol 6689. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-21504-9_8
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DOI: https://doi.org/10.1007/978-3-642-21504-9_8
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