Robot-Assisted Diagnostic Ultrasound – Design and Feasibility Experiments

Salcudean, Septimiu E.; Bell, Gregory; Bachmann, S.; Zhu, Wen-Hong; Abolmaesumi, Purang; Lawrence, P.D.

doi:10.1007/10704282_115

Cited by 86 publications

(61 citation statements)

References 7 publications

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“…• Reduce or prevent musculoskeletal disorders for the physician (Salcudean et al, 1999;Nakadate et al, 2010b). …”

Section: Introductionmentioning

confidence: 99%

“…The force the robot uses on the patient is scaled down on the haptic device, thus reducing the strain. In both Salcudean et al (1999) and Nakadate et al (2010b), such robotic systems are presented.…”

Section: Introductionmentioning

confidence: 99%

“…A system for diagnosis of venous thrombosis is described in Vilchis-Gonzales et al (2007) and Vilchis-Gonzalez et al (2007). In Salcudean et al (1999) and Abolmaesumi et al (2002), the development of a system for carotid artery examinations to diagnose occlusive disease is described. This also includes shared control of the robot between the physician and a visual servoing algorithm based on cross-correlation.…”

Section: Introductionmentioning

confidence: 99%

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An Ultrasound Robotic System Using the Commercial Robot UR5

et al. 2016

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The use of robots in health care has increased dramatically over the last decade. One area of research has been to use robots to conduct ultrasound examinations, either controlled by a physician or autonomously. This paper examines the possibility of using the commercial robot UR5 from Universal Robots to make a tele-operated robotic ultrasound system. Physicians diagnosing patients using ultrasound probes are prone to repetitive strain injuries, as they are required to hold the probe in uncomfortable positions and exert significant static force. The main application for the system is to relieve the physician of this strain by letting the them control a robot that holds the probe. A set of requirements for the system is derived from the state-of-the-art systems found in the research literature. The system is developed through a low-level interface for the robot, effectively building a new software framework for controlling it. Compliance force control and forward flow haptic control of the robot was implemented. Experiments are conducted to quantify the performance of the two control schemes. The force control is estimated to have a bandwidth of 16.6 Hz, while the haptic control is estimated to have a bandwidth of 65.4 Hz for the position control of the slave and 13.4 Hz for the force control of the master. Overall, the system meets the derived requirements and the main conclusion is that it is feasible to use the UR5 robot for robotic ultrasound applications.

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“…• Reduce or prevent musculoskeletal disorders for the physician (Salcudean et al, 1999;Nakadate et al, 2010b). …”

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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An Ultrasound Robotic System Using the Commercial Robot UR5

et al. 2016

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“…Some previous tele-echography and robot-based echography systems have been developed [1][2][3][4][5][6][7][8]. Some of these approaches are purely tele-medicine projects (see [5] for example).…”

Section: Introductionmentioning

confidence: 99%

“…A second class of systems allows to automate an echographic examination using a robot [3,4]. Finally, a last category of robot-based systems enables the remote examination of patients by a distant expert with [3,6] or without [2,8] force feedback. Many of the robot-based systems integrate conventional robot architectures and actuation.…”

Section: Introductionmentioning

confidence: 99%

Experiments with the TER Tele-echography Robot

Gonzales

Troccaz

Cinquin

et al. 2002

Medical Image Computing and Computer-Assisted Intervention — MICCAI 2002

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Abstract. This paper presents a master-slave system applied to the remote diagnosis from echographic data. The motion of the master manipulator is remotely controlled by a physician and reproduced by a slave robot carrying the echographic probe. The contact force between the probe and the patient is fed back to operator allowing him to have a haptic virtual environment. The innovation of this haptic control is to preserve medical expert propioception and gesture feelings, which are necessary to synchronize the ultrasound images with the motion made by the medical doctor. The slave robot is a cable-driven manipulator using pneumatic artificial muscle actuators to control the motion of the ultrasound probe. In this paper we present the architecture and the performances of the slave robot and the first experiments of the master-slave remote echography system for examinations of pregnant women.

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