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International Conference on Medical Image Computing and Computer-Assisted Intervention

MICCAI 2012: Medical Image Computing and Computer-Assisted Intervention – MICCAI 2012 pp 42–49Cite as

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  2. Medical Image Computing and Computer-Assisted Intervention – MICCAI 2012
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Remote Ultrasound Palpation for Robotic Interventions Using Absolute Elastography

Remote Ultrasound Palpation for Robotic Interventions Using Absolute Elastography

  • Caitlin Schneider19,
  • Ali Baghani19,
  • Robert Rohling19,20 &
  • …
  • Septimiu Salcudean19 
  • Conference paper
  • 5820 Accesses

  • 13 Citations

Part of the Lecture Notes in Computer Science book series (LNIP,volume 7510)

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.

Keywords

  • Ultrasound
  • Absolute Elastography
  • Robotic Surgery

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References

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Author information

Authors and Affiliations

  1. Department of Electrical and Computer Engineering, University of British Columbia, Vancouver, BC, Canada

    Caitlin Schneider, Ali Baghani, Robert Rohling & Septimiu Salcudean

  2. Department of Mechanical Engineering, University of British Columbia, Vancouver, BC, Canada

    Robert Rohling

Authors
  1. Caitlin Schneider
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  2. Ali Baghani
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  3. Robert Rohling
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  4. Septimiu Salcudean
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Editor information

Editors and Affiliations

  1. Inria Sophia Antipolis, Project Team Asclepios, 06902, Sophia-Antipolis, France

    Nicholas Ayache & Hervé Delingette & 

  2. MIT, CSAIL, 02139,, Cambridge,, MA, USA

    Polina Golland

  3. Information and Communication, Nagoya University, 464-8603, Headquarters, Nagoya, Japan

    Kensaku Mori

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© 2012 Springer-Verlag Berlin Heidelberg

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Cite this paper

Schneider, C., Baghani, A., Rohling, R., Salcudean, S. (2012). Remote Ultrasound Palpation for Robotic Interventions Using Absolute Elastography. In: Ayache, N., Delingette, H., Golland, P., Mori, K. (eds) Medical Image Computing and Computer-Assisted Intervention – MICCAI 2012. MICCAI 2012. Lecture Notes in Computer Science, vol 7510. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33415-3_6

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  • DOI: https://doi.org/10.1007/978-3-642-33415-3_6

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  • Print ISBN: 978-3-642-33414-6

  • Online ISBN: 978-3-642-33415-3

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