Search

Title Author Year Keyword Project  include Videos
or and

Publication

First 3D Ultrasound Scanning, Planning, and Execution of CT-free Milling Interventions with a Surgical Robot
Philipp Stolka , Philipp A. Federspil , Dominik Henrich , Steffen H. Tretbar

Abstract (english)
Surgical procedures with navigation or robot system support usually require pre-operative planning data. This data can be acquired with imaging techniques such as computed tomography (CT), the current gold standard due to its high precision. With such planning data, access trajectories, implant positions, individual milling paths etc. can be computed. We present a novel ultrasound-based method to generate equivalent 3D image data which is well-suited for many interventions, but less costly than CT data. The method is demonstrated for robot-based implant bed milling in the lateral skull base, in a complete process consisting of infrared navigation registration, manual ultrasound scan path delineation, path smoothing and checking, robot-based ultrasound scan execution, 3D ultrasound volume reconstruction, implant position optimization, robot milling path planning, and intervention execution. This represents, to the best of our knowledge, the first time such a CT-free, 3D-ultrasound-based intervention has been demonstrated in the laboratory.

Publication data

Year: 2008
Publication date: 20. August 2008
Place: Vancouver, British Columbia, Canada
Source: EMBC 2008 - 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (Vancouver, British Columbia, Canada)
Project: RONAF
Keywords (deutsch): Cochlea-Implantat , computer-assistierte Chirurgie , Mastoid , Mastoidektomie , Navigation , Robotik
Keywords (english): force control , mastoid , mastoidectomy , motion planning , optimization methods , otorhinolaryngological surgery , path planning , robot kinematics , trajectory optimization , trajectory planning
Referrer: http://www.ai3.uni-bayreuth.de/resypub/?mode=pub_show&pub_ref=stolka2008a

BibTeX

@ARTICLE{stolka2008a,
  TITLE             = "First 3D Ultrasound Scanning, Planning, and Execution of CT-free Milling Interventions with a Surgical Robot",
  AUTHOR            = "Stolka, Philipp and Federspil, Philipp A. and Henrich, Dominik and Tretbar, Steffen H.",
  YEAR              = "2008",
  JOURNAL           = "EMBC 2008 - 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (Vancouver, British Columbia, Canada)",
  HOWPUBLISHED      = "\url{http://www.ai3.uni-bayreuth.de/resypub/?mode=pub_show&pub_ref=stolka2008a}",
}

Download

Filename   Size   Language   Format
stolka2008a.First.3D.Ultrasound.Scanning.Planning.and.Execution.of.CTfree.Milling.Interventions.with.a.Surgical.Robot.pdf   931.5K   english   PDF   download preprint


© LS AI3 Uni-Bayreuth