Laparoscopic ultrasound manipulator with a spring-based elastic mechanism
Published on Jul 1, 2018in International Journal of Computer Assisted Radiology and Surgery2.155
· DOI :10.1007/s11548-018-1709-7
Purpose Image guidance is a key technology that can improve the outcome of laparoscopic surgery. However, due to the large deformation caused by digestive organs, a computer-aided navigation system based on preoperative imaging data cannot indicate the correct target position of the lesion (e.g., liver tumors and vessels invisible from the organ surface). To overcome this issue, we developed a laparoscopic ultrasound manipulator with two motorized degrees of freedom at the tip, allowing for the performance of a dexterous ultrasound scan in a confined laparoscopic surgical area.