Ultrasound Probe for Laparoscopy

摘要

An intra-operative ultrasound probe for use with a robotic and laparoscopic surgical systems that allows for direct surgeon control over the position and orientation of the ultrasound image is presented. The transducer is designed to interface with the laparoscopic grasper so that it is easy to pick up in a locking, self-aligning and repeatable manner. The transducer is tracked in space using either forward kinematics or electromagnetic sensing, allowing multiple 2D images to be combined in order to create 3D ultrasound volumes. The 3D volumes can be further processed and displayed on the surgeon's console, or used to register and display acquired pre-operative images at the correct spatial location within the patient.