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

doi:10.1109/LRA.2021.3056033

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统管理与控制国家重点实验室 > 先进机器人控制团队

	Towards Standardized Acquisition With a Dual-Probe Ultrasound Robot for Fetal Imaging
	Housden, James 3; Wang, Shuangyi 4; Bao, Xianqiang 3; Zheng, Jia 5; Skelton, Emily 3; Matthew, Jacqueline 3; Noh, Yohan 2; Eltiraifi, Olla 3; Singh, Anisha 1; Singh, Davinder 1
刊名	IEEE ROBOTICS AND AUTOMATION LETTERS
	2021-04-01
卷号	6 期号:2 页码:1059-1065
关键词	Medical robots and systems motion and path planning software-hardware integration for robot systems
ISSN号	2377-3766
DOI	10.1109/LRA.2021.3056033
通讯作者	Wang, Shuangyi(shuangyi.wang@ia.ac.cn)
英文摘要	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.
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]
WOS研究方向	Robotics
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:000619380200013
资助机构	Wellcome Trust IEH Award ; Wellcome/EPSRC Centre for Medical Engineering ; National Natural Science Foundation of China
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/43180]
专题	自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
通讯作者	Wang, Shuangyi
作者单位	1.Xtronics Ltd, Gravesend DA12 2AD, England 2.Brunel Univ, Dept Mech & Aerosp Engn, London UB8 3PH, England 3.Kings Coll London, Sch Biomed Engn & Imaging Sci, London SE1 7EH, England 4.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 5.Beihang Univ, Sch Gen Engn, Beijing 100191, Peoples R China
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.