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Percorrer por autor "Martins, Jorge M.M."

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  • 3D femur reconstruction using a robotized ultrasound probe
    Publication . Torres, Pedro; Sanches, J. Miguel; Gonçalves, Paulo; Martins, Jorge M.M.
    Three-dimensional reconstruction of images is a fundamental procedure in medical imaging because it allows to build virtual models of anatomical units of the human body, useful in several areas, such as in surgical navigation. This paper presents a non freehand Ultrasound acquisition system for human fêmur reconstruction where the probe displacement and position are accurately controlled by an anthropomorphic arm robot. The aim of this system is to acquire a sequence of 2D parallel cross-sections evenly spaced along the displacement direction in order to perform na accurate 3D reconstruction of the femur to be used in the scope of computer-assisted orthopedic surgery. Here, the system is described as well as the image processing and calibration procedures implemented. Results with real data are presented to illustrate the operation of the system.
    2012Comunicação em conferência Acesso restrito Ver mais
  • Robotic system navigation developed for hip resurfacing prosthesis surgery
    Publication . Torres, Pedro; Gonçalves, Paulo; Martins, Jorge M.M.
    This paper discusses the design of a navigation system developed to assist surgeons in the procedures of Hip Resurfacing prosthesis surgeries. In conventional surgery, mechanical jigs are used to obtain a correct alignment for the metal prosthesis, however it is a very time consuming process. In order to solve this problem emerges a new robotic system, named HipRob. The system is composed by a pre-operative sub-system for planning the prosthesis correct alignment and a flexible robot to be co-manipulated by the surgeon during the drilling procedures on the femur head. The real-time navigation of this robotic system is based on the registration between the femur model, constructed from the CT scan, and the surface constructed with ultrasound images, acquired during the surgical procedures. Experimental results, performed in a femur phantom, show that the robot location errors are around 2 mm.
    2018Capítulo de livro Acesso restrito Ver mais