A Flexible and Fully Autonomous Breast Ultrasound Scanning System

Tan, Jiyong; Li, Bing; Li, Yuanwei; Li, Bin; Chen, Xinxing; Wu, Jiayi; Luo, Baoming; Leng, Yuquan; Rong, Yiming; Fu, Chenglong

doi:10.1109/tase.2022.3189339

Cited by 10 publications

(4 citation statements)

References 34 publications

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“…In this work, the displacement x in Eq. (3) of the cartesian impedance controller is appropriately set to ensure safety during the contact tasks [10] and calculated by:…”

Section: B Energy Tank-enhanced System Passivitymentioning

confidence: 99%

“…4, the "soft" one is an artificial soft tissue, and the "rigid" one is made of foam and a bit harder but still deformable during the contact. The desired contact forces are set at three different levels as 𝑭 𝒅𝒆𝒔 = [7, 10, 15] N, and the scanning speed is set as 8 mm/s, which is defined as refers to the Ultrasound imaging task scanning speed [10], [14], [23]. Furthermore, to investigate the robustness of the proposed framework, experiments are also implemented with the setups of scanning from the "rigid to soft" (R2S) and from "soft to rigid" (S2R), respectively.…”

Section: B Experiments Protocolmentioning

confidence: 99%

“…For instance, Bao et al [9] proposed a novel robot mechanism that integrated a force control mechanism, a force/torque measurement mechanism, and an adaptive control strategy to assist sonographers in performing efficient ultrasound scanning tasks. Tan et al [10] designed a dual robotic arms system for clamping the ultrasound device. Each robotic arm had 5 Degree-of-Freedoms (DoFs), comprising three orthogonal translational axes and two orthogonal rotation axes.…”

Section: Introductionmentioning

confidence: 99%

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Optimization-Based Variable Impedance Control of Robotic Manipulator for Medical Contact Tasks

Fu,

Burzo,

Iovene

et al. 2024

IEEE Trans. Instrum. Meas.

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This work presents an optimization-based variable impedance control strategy for controlling a robotic manipulator in medical contact tasks. Specifically, the optimal robot stiffness for performing the medical contact task is obtained using online Quadratic Programming (QP). In the meantime, an energy tank approach is incorporated into the control loop to regulate the system's passivity. To verify the performance of the proposed strategy, experiments are conducted on both "static" and "scanning" medical contact tasks, utilizing materials with different properties, different magnitudes of contact forces, as well as uneven conditions with a human torso phantom model and slope surface. The maximum Root Mean Square Error (RMSE) of force tracking with the proposed method in the "static" and "scanning" tasks, across all setups, is 0.88 N and 0.5 N, respectively. The experiment results demonstrate the superiority of the proposed control strategy compared with traditional manual contact and constant stiffness impedance control-based ones. The proposed control framework is promising to be integrated into robotassisted medical contact tasks, for example, the palpation and Ultrasound imaging scenarios.

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“…In this work, the displacement x in Eq. (3) of the cartesian impedance controller is appropriately set to ensure safety during the contact tasks [10] and calculated by:…”

Section: B Energy Tank-enhanced System Passivitymentioning

confidence: 99%

Section: B Experiments Protocolmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Optimization-Based Variable Impedance Control of Robotic Manipulator for Medical Contact Tasks

Fu,

Burzo,

Iovene

et al. 2024

IEEE Trans. Instrum. Meas.

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“…In comparison, an autonomous ultrasound scanning robot possesses both high-level navigation/planning ability and low-level interaction control ability [2]. The navigation systems can update the desired pose of the ultrasound probe online based on the data from sensors (such as force sensors, depth cameras, and the ultrasound images themselves) to obtain high-quality ultrasound images [8]- [10]. Some works utilized reinforcement learning (RL) for navigation systems [11], [12] and achieved good performance at the price of low data efficiency.…”

Section: A Ultrasound Scanning Robotmentioning

confidence: 99%

Adaptive Vision-Based Control of Redundant Robots with Null-Space Interaction for Human-Robot Collaboration

Yan

Chen

2022

2022 International Conference on Robotics and Automation (ICRA)

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Ultrasound scanning robots enable the automatic imaging of a patient's internal organs by maintaining close contact between the ultrasound probe and the patient's body during a scanning procedure. Comprehensive, high-quality ultrasound scans are essential for providing the patient with an accurate diagnosis and effective treatment plan. An ultrasound scanning robot usually works in a doctor-robot co-existing environment, hence both efficiency and safety during the collaboration should be considered. In this paper, we propose a novel multi-modal control scheme for ultrasound scanning robots, in which three interaction modes are integrated into a single control input. Specifically, the scanning mode drives the robot to track a time-varying trajectory on the patient's body under the desired impedance model; the recovery mode allows the robot to actively recontact the body whenever physical contact between the ultrasound probe and the patient's body is lost; the humanguided mode renders the robot passive such that the doctor can safely intervene to manually reposition the probe. The integration of multiple modes allows the doctor to intervene safely at any time during the task and also maximizes the robot's autonomous scanning ability. The performance of the robot is validated on a collaborative scanning task of a carotid artery examination.

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A review of robot‐assisted ultrasound examination: Systems and technology

Du,

Zhang,

Zhang

et al. 2024

Robotics Computer Surgery

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BackgroundAt present, the number and overall level of ultrasound (US) doctors cannot meet the medical needs, and the medical ultrasound robots will largely solve the shortage of medical resources.MethodsAccording to the degree of automation, the handheld, semi‐automatic and automatic ultrasound examination robot systems are summarised. Ultrasound scanning path planning and robot control are the keys to ensure that the robot systems can obtain high‐quality images. Therefore, the ultrasound scanning path planning and control methods are summarised. The research progress and future trends are discussed.ResultsA variety of ultrasound robot systems have been applied to various medical works. With the continuous improvement of automation, the systems provide high‐quality ultrasound images and image guidance for clinicians.ConclusionAlthough the development of medical ultrasound robot still faces challenges, with the continuous progress of robot technology and communication technology, medical ultrasound robot will have great development potential and broad application space.

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A Flexible and Fully Autonomous Breast Ultrasound Scanning System

Cited by 10 publications

References 34 publications

Optimization-Based Variable Impedance Control of Robotic Manipulator for Medical Contact Tasks

Optimization-Based Variable Impedance Control of Robotic Manipulator for Medical Contact Tasks

Adaptive Vision-Based Control of Redundant Robots with Null-Space Interaction for Human-Robot Collaboration

A review of robot‐assisted ultrasound examination: Systems and technology

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