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Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound

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Published on: January 7, 2019

Remote ultrasound palpation for robotic interventions using absolute elastography.

Caitlin Schneider¹, Ali Baghani, Robert Rohling

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

Medical Image Computing and Computer-Assisted Intervention : MICCAI ... International Conference on Medical Image Computing and Computer-Assisted Intervention

|January 5, 2013

Summary

This study introduces a novel system for measuring tissue stiffness during robotic surgery. The technique uses ultrasound and shear waves to provide real-time elastic property data, enhancing surgical precision.

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Area of Science:

Biomedical Engineering
Surgical Robotics
Medical Imaging

Background:

Minimally invasive surgery (MIS) benefits from robotic systems, but lacks tactile feedback.
Assessing tissue stiffness intraoperatively remains a significant challenge in MIS.
Current robotic systems do not provide quantitative information on tissue elasticity.

Purpose of the Study:

To develop and validate a system for real-time measurement of absolute tissue elastic properties.
To integrate shear wave elastography with a robotic surgical system for intraoperative use.
To address the unmet need for haptic feedback in robotic surgery through quantitative stiffness assessment.

Main Methods:

A freehand ultrasound scanning technique was employed, utilizing the da Vinci Surgical robot and a custom 2D ultrasound transducer.
An external exciter generated shear waves within the tissue.
A local frequency estimation method was used to compute the shear modulus, a measure of tissue stiffness.
The system was tested using both phantom models and in vivo experiments.

Main Results:

The system successfully measured absolute elastic properties of tissue in both phantom and in vivo models.
The shear modulus was accurately computed using the developed local frequency estimation method.
Demonstrated feasibility of integrating shear wave elastography with robotic surgical platforms.

Conclusions:

The presented system provides a method for real-time, absolute tissue elastic property measurement during robotic surgery.
This technology can enhance surgical precision and potentially restore a form of haptic feedback.
The system's modular design allows for extension to various robotic tracking systems and ultrasound transducers.