Robot for ultrasound-guided prostate imaging and intervention

@article{Kim2011RobotFU,
  title={Robot for ultrasound-guided prostate imaging and intervention},
  author={Chunwoo Kim and Felix Sch{\"a}fer and Doyoung Chang and Doru Petrisor and Misop Han and Dan Stoianovici},
  journal={2011 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2011},
  pages={943-948}
}
The paper presents a new robot for manipulating a transrectal ultrasound probe for image-guided intervention of the prostate, the TRUS robot. The robot positions and orients the probe for image scanning and needle targeting of the prostate. Image slices and their respective position are mapped three-dimensionally to render volumetric images. The robot is designed to accommodate the constraints of the clinical prostate intervention. The robot includes all 4 degrees-of-freedom that are available… CONTINUE READING

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