This assignment is part of the MURAB project. In this project the goal is to reduce the usage of expensive MRI. A robotically steered ultrasound transducer equipped with an acoustically transparent force sensing will autonomously scan the target area and optimally acquire volumetric and elastographic data.
An innovative technique, called Tissue Active SLAM (TAS), will be developed in the project to optimally register the acquired volume to the preoperational MR image. Once that is done, the radiologist can select the target and the robot will steer instrument. In my assignment, I will be focusing on Tissue Active SLAM. The goal is to verify the constructed Tissue Active SLAM algorithm.