Robotic system for accurate percutaneous puncture guided by 3D-2D ultrasound.

Journal: International journal of computer assisted radiology and surgery
Published Date: Oct 21, 2022

Abstract

PURPOSE: Ultrasound (US)-guided robotic systems can reduce the reliance on the experience and skills of surgeons and enable automatic and accurate percutaneous puncture. Two-dimensional (2D) and three-dimensional (3D) US guidance have various advantages and disadvantages. The planned puncture path in the US data directly affects the puncture quality and tissue injury risk. It is difficult to define the optimal path in 2D US images and achieve accurate and safe puncture under the guidance of 3D US volume. This study aims to propose a robotic system guided by 3D-2D US to realize accurate and safe percutaneous puncture.

Authors

  • Yanping Lin
    School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, People's Republic of China. yanping_lin@sjtu.edu.cn.
  • Shihang Chen
    School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, People's Republic of China.
  • Wangjie Xu
    School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, People's Republic of China.
  • Xiaoxiao Zhu
    Research Institute of Robotics, Shanghai Jiao Tong University, Shanghai 200240, China.
  • Qixin Cao
    Research Institute of Robotics, Shanghai Jiao Tong University, No. 800 Dong Chuan Road, Shanghai 200240, China.

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