NDLI: Real-Time Visual Servoing of a Robot Using Three-Dimensional Ultrasound

Content Provider	IEEE Xplore Digital Library
Author	Novotny, P.M. Stoll, J.A. Dupont, P.E. Howe, R.D.
Copyright Year	2007
Description	Author affiliation: Sch. of Eng. & Appl. Sci., Harvard Univ., Cambridge, MA (Novotny, P.M.)
Abstract	This paper presents a robotic system capable of using three-dimensional ultrasound to guide a surgical instrument to a tracked target location. Tracking of both the surgical instrument and target was done using image based algorithms on the real-time 3D ultrasound data. The tracking techniques are shown to be especially amenable for execution on powerful graphics processor units. By harnessing a graphics card, it was possible to detect both a surgical instrument and a surgical target at a rate of 25 Hz. The high update rate permits the use of tracked instrument and target locations for controlling a robot. Validation of the system was done in a water tank, where the robot moved the instrument to the target site with a mean error of 1.2 mm
Sponsorship	IEEE Robotics and Automation Soc
Starting Page	2655
Ending Page	2660
File Size	527195
Page Count	6
File Format	PDF
ISBN	1424406013
ISSN	10504729
DOI	10.1109/ROBOT.2007.363866
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-04-10
Publisher Place	Italy
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Visual servoing Ultrasonic imaging Surgical instruments Heart Target tracking Robot control Minimally invasive surgery Robotics and automation USA Councils Graphics
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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