Remote Ultrasound Palpation for Robotic Interventions Using Absolute Elastography

  • Caitlin Schneider
  • Ali Baghani
  • Robert Rohling
  • Septimiu Salcudean
Part of the Lecture Notes in Computer Science book series (LNCS, volume 7510)


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.


Ultrasound Absolute Elastography Robotic Surgery 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Caitlin Schneider
    • 1
  • Ali Baghani
    • 1
  • Robert Rohling
    • 1
    • 2
  • Septimiu Salcudean
    • 1
  1. 1.Department of Electrical and Computer EngineeringUniversity of British ColumbiaVancouverCanada
  2. 2.Department of Mechanical EngineeringUniversity of British ColumbiaVancouverCanada

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