Research Papers

An Ultrasound Probe Holder for Image-Guided Surgery

[+] Author and Article Information
Basem Fayez Yousef

Department of Electrical and Computer Engineering, The University of Western Ontario, 1151 Richmond Street, Suite 2, London, ON, N6A 5B9, Canadabfayez2000@yahoo.ca

Rajni V. Patel

Canadian Surgical Technologies and Advanced Robotics (CSTAR), 339 Windermere Road, London, ON, N6A 5A5, Canada; Department of Electrical and Computer Engineering, The University of Western Ontario, 1151 Richmond Street, Suite 2, London, ON, N6A 5B9, Canadarajni@eng.uwo.ca

Mehrdad Moallem

Mechatronics Systems Engineering, Simon Fraser University Surrey, 250-13450 102nd Avenue, Surrey, BC, V3T 0A3, Canadammoallem@sfu.ca

J. Med. Devices 2(2), 021002 (May 09, 2008) (7 pages) doi:10.1115/1.2912817 History: Received October 30, 2007; Revised February 15, 2008; Published May 09, 2008

Automating image-guided therapy and registering a medical image to a patient require knowledge of the locations of both the medical image source (e.g., ultrasound) and the surgical tool with respect to a global coordinate system that is known relative to the patient. Also, sturdiness of the medical instrumentations is essential. A novel compact stabilizer-tracker integrated assembly is designed to serve as a holder that can be used to support, manipulate in six degrees-of-freedom, and firmly lock-in-place ultrasound imaging probes and other instruments for use in image-guided surgery as well as to provide the position and orientation of the probe in 3D space with respect to a known reference origin. The stabilizer’s configuration allows a clinician to easily manipulate an ultrasound probe in 3D space, and demonstrate improved sturdiness when locked. A reliable validation technique using forward kinematics was used to evaluate the performance of the holder. Performance tests show that the tracker assembly can acquire the position and orientation of the ultrasound probe with an average displacement accuracy of 0.66mm and roll, pitch, and yaw angular accuracies of 0.24deg, 0.38deg, and 0.19deg, respectively. The improved sturdiness demonstrated by the compact-sized stabilizer and the high accuracy of the tracking mechanism make the integrated holder mechanism well suited for use in image-guided robot-assisted brachytherapy. It is anticipated that this will lead to improvement in accuracy and clinical outcomes for the procedure. The novel tracker can also be used to acquire the positions and orientations of other passive mechanisms of complex designs.

Copyright © 2008 by American Society of Mechanical Engineers
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Figure 1

The current prostate brachytherapy is a manual seed implantation into the prostate (10)

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Figure 2

Schematic diagram of a robotic system for image-guided robot-assisted brachytherapy

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Figure 3

CAD model of the proposed rectal US probe holder (stabilizer-tracker) mechanism

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Figure 4

Tracker assembly and frame assignment

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Figure 5

Tracker’s lower-joint assembly

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Figure 6

Tracker’s upper-joint assembly

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Figure 7

Probe holder design and dimensions allow the accommodation of other mechanisms necessary for prostate brachytherapy such as the leg supports and other robot arms that may extend from the sides

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Figure 8

(a) The actual constructed prototype of the US probe holder positioned at a target point i and the {origin} reference frame is attached to the table; (b) for each target point i, the coordinates of three arbitrary points were determined and used to define a frame {act} that describes the actual orientation of the end effector




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