Performance Evaluation of a CRS Robot Manipulator Applied to 3D-Ultrasound Imaging Marie-Ange Janvier Laboratory of Biorheology and Medical Ultrasonics, University of Montreal Hospital Research Center, Montreal, Canada. e-mail : [email protected]Surgical Robotics : 2 nd Summer European University, Montpellier, France September 7 th -14 th 2005.
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Performance Evaluation of a CRS Robot Manipulator Applied
to 3D-Ultrasound ImagingMarie-Ange Janvier
Laboratory of Biorheology and Medical Ultrasonics, University of MontrealHospital Research Center, Montreal, Canada.
Surgical Robotics : 2nd Summer European University, Montpellier, France September 7th-14th 2005.
Clinical applicationCardiovascular diseases are the leading cause of death for over 1/3 of Canadians.Degree of stenosis is the mostly used criterion to assess atherosclerosis.Appropriate therapy planning requires a complete 3D representation of the lower limb vessels.
Most 3D-US freehand tracking devices are not optimally adapted for quantifying a stenosis in lower limbs.
To identify tight stenoses in lower limbs, a scanning of high precision is required over a long segment.
Objectives
Evaluate the performance of a new medical prototype robot in terms of accuracy and repeatability.Evaluate the feasibility of accurate stenoses quantification with the robotic system.
Materials & MethodPrototype Medical Robot System
US Scanner Robotic ArmPC Workstation
Materials & MethodPrototype medical robot architecture
Power supply
E- Stop
Watchdog
Image acquisition cardNI-PCI 1411
US Scanner GE Vivid-5 US system
Replay : Operator button
Safety controlSafety control
Safety control
US probe
ATI F/T Sensor
CRS F 3 Robotic Arm
PC- Workstation URS Software
Robot ControllerC500C-CROS
ATI F/T sensor system controller
Teach mode
Teach/Replay mode Replay mode
Materials & MethodDesignated experimental zones
50 cm
35 cm
4 5
1 2
3
122 cm
121 cm121 cm
232.5 cm
61 cm
20..3 cm 22.5 cm
Robot
Workspace zones
Materials & MethodPreliminary 3D-reconstruction with a vascular
phantom. 1st stenosis79.5%
2nd stenosis69.9%
Vascular phantom (Cloutier et al., Med. Phys., 2004)
This work was supported in part by Canadian Institutes of Health Research (CIHR).This project was produced with the collaboration of an industrial partner : Integral Technologies Inc. , Laval, Québec, Canada (www. Integraltek.com).