Laparoscopic
ultrasound has seen increased use as a surgical aide in general, gynecological, and urological procedures. The application of real-time three-dimensional (RT3D)
ultrasound to these laparoscopic procedures may increase information available to the surgeon and serve as an additional intraoperative guidance tool. The integration of RT3D with recent advances in
robotic surgery can also increase
automation and ease of use. In one non-limiting exemplary implementation, a 1 cm
diameter probe for RT3D has been used laparoscopically for
in vivo imaging of a canine. The probe, which operates at 5 MHz, was used to image the
spleen, liver, and
gall bladder as well as to guide surgical instruments. Furthermore, the 3D measurement
system of the volumetric
scanner used with this probe was tested as a guidance mechanism for a robotic
linear motion system in order to simulate the feasibility of RT3D /
robotic surgery integration. Using images acquired with the 3D laparoscopic
ultrasound device, coordinates were acquired by the
scanner and used to direct a robotically controlled needle towards desired
in vitro targets as well as targets in a post-mortem canine. The RMS error for these measurements was 1.34 mm using
optical alignment and 0.76 mm using ultrasound alignment.