Faculty Bibliography

This paper introduces a novel method for ultrasound (US) probe calibration based on closed-form formulation and using minimal US imaging allowing for an immediate result. Prior to calibration, a position sensor is used to track each image in 3D space while the US image is used to determine target location within the image. The calibration procedure uses these two pieces of information to determine the transformation (translation, rotation, and scaling) of the scan plane with respect to the position sensor. We utilize a closed form solution from two motions of the US probe relying on optical digitization with a calibrated pointer to replace with a great extent the traditional segmentation of points/planes in US images. The tracked pointer appeared to introduce significantly less error than the resolution of the US image caused in earlier approaches. Our method also uses significantly fewer US images and requires only minimal image segmentation, or none with a special probe attachment.

This paper reports an interactive software interface for visualization, planning, and monitoring of intra-prostatic needle placement procedures performed with a robotic assistant device inside standard cylindrical high-field magnetic resonance imaging (MRI) scanner. We use anatomical visualization and image processing techniques to plan the process and apply active tracking coils to localize the robot in realtime to monitor its motion relative to the anatomy. The interventional system is in Phase-I clinical trials for prostate biopsy and marker seed placement. The system concept, mechanical design, and in-vivo canine studies have been presented earlier [6,10,14]. The software architecture and three-dimensional application software interface discussed in this paper are new additions. This software was tested on pre-recorded patient data.

Robotics is a multidisciplinary field that holds great potential for hands-on education throughout a student's school career. However, making technology accessible for learning is challenging due to cost, safety and implementation concerns. This paper describes a method for drawing on current, real life challenges faced by researchers in the field and translating such experiences into a secondary school level program. The concept of the competition, application of LEGO Mindstorms robotics platform, methods of organization and expansion, past experiences and future plans are presented. Our goal is to show an example of how to integrate off-the-shelf robotic technology with current real-world engineering challenges and to engage students in the fields of engineering, robotics, and medicine in a fun and exciting atmosphere