Detection of curved robots using 3D ultrasound

DSpace/Manakin Repository

Detection of curved robots using 3D ultrasound

Citable link to this page


Title: Detection of curved robots using 3D ultrasound
Author: Ren, Hongliang; Vasilyev, Nikolay; Dupont, Pierre E

Note: Order does not necessarily reflect citation order of authors.

Citation: Ren, Hongliang, Nikolay V. Vasilyev, and Pierre E. Dupont. 2011. "Detection of curved robots using 3D ultrasound." In Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference, pp. 2083-2089. doi:10.1109/IROS.2011.6094915
Full Text & Related Files:
Abstract: Three-dimensional ultrasound can be an effective imaging modality for image-guided interventions since it enables visualization of both the instruments and the tissue. For robotic applications, its realtime frame rates create the potential for image-based instrument tracking and servoing. These capabilities can enable improved instrument visualization, compensation for tissue motion as well as surgical task automation. Continuum robots, whose shape comprises a smooth curve along their length, are well suited for minimally invasive procedures. Existing techniques for ultrasound tracking, however, are limited to straight, laparoscopic-type instruments and thus are not applicable to continuum robot tracking. Toward the goal of developing tracking algorithms for continuum robots, this paper presents a method for detecting a robot comprised of a single constant curvature in a 3D ultrasound volume. Computational efficiency is achieved by decomposing the six-dimensional circle estimation problem into two sequential three-dimensional estimation problems. Simulation and experiment are used to evaluate the proposed method.
Published Version: doi:10.1109/IROS.2011.6094915
Other Sources:
Terms of Use: This article is made available under the terms and conditions applicable to Other Posted Material, as set forth at
Citable link to this page:
Downloads of this work:

Show full Dublin Core record

This item appears in the following Collection(s)


Search DASH

Advanced Search