Robotic Intra-Operative Ultrasound: Virtual Environments and Parallel Systems

doi:10.1109/JAS.2021.1003985

CASIA OpenIR > 学术期刊 > IEEE/CAA Journal of Automatica Sinica

	Robotic Intra-Operative Ultrasound: Virtual Environments and Parallel Systems; Robotic Intra-Operative Ultrasound: Virtual Environments and Parallel Systems
	Shuangyi Wang; James Housden; Tianxiang Bai; Hongbin Liu; Junghwan Back; Davinder Singh; Kawal Rhode; Zeng-Guang Hou; Fei-Yue Wang
发表期刊	IEEE/CAA Journal of Automatica Sinica ; IEEE/CAA Journal of Automatica Sinica
ISSN	2329-9266 ; 2329-9266
	2021 ; 2021
卷号	8 期号:5 页码:1095-1106
摘要	Robotic intra-operative ultrasound has the potential to improve the conventional practice of diagnosis and procedure guidance that are currently performed manually. Working towards automatic or semi-automatic ultrasound, being able to define ultrasound views and the corresponding probe poses via intelligent approaches become crucial. Based on the concept of parallel system which incorporates the ingredients of artificial systems, computational experiments, and parallel execution, this paper utilized a recent developed robotic trans-esophageal ultrasound system as the study object to explore the method for developing the corresponding virtual environments and present the potential applications of such systems. The proposed virtual system includes the use of 3D slicer as the main workspace and graphic user interface (GUI), Matlab engine to provide robotic control algorithms and customized functions, and PLUS (Public software Library for UltraSound imaging research) toolkit to generate simulated ultrasound images. Detailed implementation methods were presented and the proposed features of the system were explained. Based on this virtual system, example uses and case studies were presented to demonstrate its capabilities when used together with the physical TEE robot. This includes standard view definition and customized view optimization for pre-planning and navigation, as well as robotic control algorithm evaluations to facilitate real-time automatic probe pose adjustments. To conclude, the proposed virtual system would be a powerful tool to facilitate the further developments and clinical uses of the robotic intra-operative ultrasound systems.; Robotic intra-operative ultrasound has the potential to improve the conventional practice of diagnosis and procedure guidance that are currently performed manually. Working towards automatic or semi-automatic ultrasound, being able to define ultrasound views and the corresponding probe poses via intelligent approaches become crucial. Based on the concept of parallel system which incorporates the ingredients of artificial systems, computational experiments, and parallel execution, this paper utilized a recent developed robotic trans-esophageal ultrasound system as the study object to explore the method for developing the corresponding virtual environments and present the potential applications of such systems. The proposed virtual system includes the use of 3D slicer as the main workspace and graphic user interface (GUI), Matlab engine to provide robotic control algorithms and customized functions, and PLUS (Public software Library for UltraSound imaging research) toolkit to generate simulated ultrasound images. Detailed implementation methods were presented and the proposed features of the system were explained. Based on this virtual system, example uses and case studies were presented to demonstrate its capabilities when used together with the physical TEE robot. This includes standard view definition and customized view optimization for pre-planning and navigation, as well as robotic control algorithm evaluations to facilitate real-time automatic probe pose adjustments. To conclude, the proposed virtual system would be a powerful tool to facilitate the further developments and clinical uses of the robotic intra-operative ultrasound systems.
关键词	Medical robots Medical robots parallel intelligence parallel intelligence parallel systems parallel systems robotic-assisted surgery robotic-assisted surgery robotic ultrasound robotic ultrasound
DOI	10.1109/JAS.2021.1003985 ; 10.1109/JAS.2021.1003985
WOS记录号	WOS:000638401600012 ; WOS:000638401600012
引用统计	被引频次：23[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/173211/43969
专题	学术期刊_IEEE/CAA Journal of Automatica Sinica 复杂系统管理与控制国家重点实验室
推荐引用方式 GB/T 7714	Shuangyi Wang,James Housden,Tianxiang Bai,et al. Robotic Intra-Operative Ultrasound: Virtual Environments and Parallel Systems, Robotic Intra-Operative Ultrasound: Virtual Environments and Parallel Systems[J]. IEEE/CAA Journal of Automatica Sinica, IEEE/CAA Journal of Automatica Sinica,2021, 2021,8, 8(5):1095-1106, 1095-1106.
APA	Shuangyi Wang.,James Housden.,Tianxiang Bai.,Hongbin Liu.,Junghwan Back.,...&Fei-Yue Wang.(2021).Robotic Intra-Operative Ultrasound: Virtual Environments and Parallel Systems.IEEE/CAA Journal of Automatica Sinica,8(5),1095-1106.
MLA	Shuangyi Wang,et al."Robotic Intra-Operative Ultrasound: Virtual Environments and Parallel Systems".IEEE/CAA Journal of Automatica Sinica 8.5(2021):1095-1106.

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JAS-2021-0117.pdf（18441KB）	期刊论文	出版稿	开放获取	CC BY-NC-SA	浏览