Towards Standardized Acquisition With a Dual-Probe Ultrasound Robot for Fetal Imaging

doi:10.1109/LRA.2021.3056033

	Towards Standardized Acquisition With a Dual-Probe Ultrasound Robot for Fetal Imaging
	Housden, James 1; Wang, Shuangyi2 ; Bao, Xianqiang 1; Zheng, Jia 3; Skelton, Emily 1; Matthew, Jacqueline 1; Noh, Yohan 4; Eltiraifi, Olla 1; Singh, Anisha 5; Singh, Davinder 5; Rhode, Kawal 1
发表期刊	IEEE ROBOTICS AND AUTOMATION LETTERS
ISSN	2377-3766
	2021-04-01
卷号	6 期号:2 页码:1059-1065
通讯作者	Wang, Shuangyi(shuangyi.wang@ia.ac.cn)
摘要	Standardized acquisitions and diagnoses using robots and AI would potentially increase the general usability and reliability of medical ultrasound. Working towards this prospect, this letter presents the recent developments of a standardized acquisition workflow using a novel dual-probe ultrasound robot, for a project known as intelligent Fetal Imaging and Diagnosis (iFIND). The workflow includes an abdominal surface mapping step to obtain a non-parametric spline surface, a rule-based end-point calculation method to position each individual joint, and a motor synchronization method to achieve a smooth motion towards a target point. The design and implementation of the robot are first presented in this letter and the proposed workflow is then explained in detail with simulation and volunteer experiments performed and analyzed. The closed-form analytical solution to the specific motion planning problem has demonstrated a reliable performance controlling the robot to move towards the expected scanning areas and the calculated proximity of the robot to the surface shows that the robot maintains a safe distance while moving around the abdomen. The volunteer study has successfully demonstrated the reliable working and controllability of the robot in terms of acquiring desired ultrasound views. Our future work will focus on improving the motion planning, and on integrating the proposed standardized acquisition workflow with newly-developed ultrasound image processing methods to obtain diagnostic results in an accurate and consistent way.
关键词	Medical robots and systems motion and path planning software-hardware integration for robot systems
DOI	10.1109/LRA.2021.3056033
收录类别	SCI
语种	英语
资助项目	Wellcome Trust IEH Award[102431] ; Wellcome/EPSRC Centre for Medical Engineering[WT203148/Z/16/Z] ; National Natural Science Foundation of China[62003339]
项目资助者	Wellcome Trust IEH Award ; Wellcome/EPSRC Centre for Medical Engineering ; National Natural Science Foundation of China
WOS研究方向	Robotics
WOS类目	Robotics
WOS记录号	WOS:000619380200013
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
七大方向——子方向分类	机器人感知与决策
引用统计	被引频次：13[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/43181
专题	复杂系统认知与决策实验室_先进机器人复杂系统管理与控制国家重点实验室
通讯作者	Wang, Shuangyi
作者单位	1.Kings Coll London, Sch Biomed Engn & Imaging Sci, London SE1 7EH, England 2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 3.Beihang Univ, Sch Gen Engn, Beijing 100191, Peoples R China 4.Brunel Univ, Dept Mech & Aerosp Engn, London UB8 3PH, England 5.Xtronics Ltd, Gravesend DA12 2AD, England
通讯作者单位	中国科学院自动化研究所
推荐引用方式 GB/T 7714	Housden, James,Wang, Shuangyi,Bao, Xianqiang,et al. Towards Standardized Acquisition With a Dual-Probe Ultrasound Robot for Fetal Imaging[J]. IEEE ROBOTICS AND AUTOMATION LETTERS,2021,6(2):1059-1065.
APA	Housden, James.,Wang, Shuangyi.,Bao, Xianqiang.,Zheng, Jia.,Skelton, Emily.,...&Rhode, Kawal.(2021).Towards Standardized Acquisition With a Dual-Probe Ultrasound Robot for Fetal Imaging.IEEE ROBOTICS AND AUTOMATION LETTERS,6(2),1059-1065.
MLA	Housden, James,et al."Towards Standardized Acquisition With a Dual-Probe Ultrasound Robot for Fetal Imaging".IEEE ROBOTICS AND AUTOMATION LETTERS 6.2(2021):1059-1065.