Towards Standardized Acquisition With a Dual-Probe Ultrasound Robot for Fetal Imaging
文献类型：期刊论文
| 作者 | Housden, James2; Wang, Shuangyi3 ; Bao, Xianqiang2; Zheng, Jia4; Skelton, Emily2; Matthew, Jacqueline2; Noh, Yohan1; Eltiraifi, Olla2; Singh, Anisha5; Singh, Davinder5
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| 刊名 | IEEE ROBOTICS AND AUTOMATION LETTERS
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| 出版日期 | 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 |
| WOS记录号 | WOS:000619380200013 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 资助机构 | Wellcome Trust IEH Award ; Wellcome/EPSRC Centre for Medical Engineering ; National Natural Science Foundation of China |
| 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 自动化研究所_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.Brunel Univ, Dept Mech & Aerosp Engn, London UB8 3PH, England 2.Kings Coll London, Sch Biomed Engn & Imaging Sci, London SE1 7EH, England 3.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 4.Beihang Univ, Sch Gen Engn, Beijing 100191, Peoples R China 5.Xtronics Ltd, Gravesend DA12 2AD, England |
| 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. |
入库方式： OAI收割
来源：自动化研究所
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