An Admittance-Controlled Robotic Assistant for Semi-Autonomous Breast Ultrasound Scanning

Carriere, Jay; Fong, Jason; Meyer, Tyler; Sloboda, Ron S.; Husain, Siraj; Usmani, Nawaid; Tavakoli, Mahdi

doi:10.1109/ismr.2019.8710206

Cited by 23 publications

(7 citation statements)

References 19 publications

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“…AI and robotic systems can be grouped along an assistive-to-autonomous axis ( Figure 3 ). Assistive systems augment the capabilities of their user by aggregating and analyzing data, performing concrete tasks under human supervision [for example, a semiautonomous ultrasound scanner ( 17 )], or learning how to perform tasks from a health professional's demonstrations. For example, a robot may learn from a physiotherapist how to guide a patient through repetitive rehabilitation exercises ( 18 ).…”

Section: Classification Of Ai and Robotic Systems In Medicinementioning

confidence: 99%

A Review of Artificial Intelligence and Robotics in Transformed Health Ecosystems

Denecke

Baudoin²

2022

Front. Med.

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Health care is shifting toward become proactive according to the concept of P5 medicine–a predictive, personalized, preventive, participatory and precision discipline. This patient-centered care heavily leverages the latest technologies of artificial intelligence (AI) and robotics that support diagnosis, decision making and treatment. In this paper, we present the role of AI and robotic systems in this evolution, including example use cases. We categorize systems along multiple dimensions such as the type of system, the degree of autonomy, the care setting where the systems are applied, and the application area. These technologies have already achieved notable results in the prediction of sepsis or cardiovascular risk, the monitoring of vital parameters in intensive care units, or in the form of home care robots. Still, while much research is conducted around AI and robotics in health care, adoption in real world care settings is still limited. To remove adoption barriers, we need to address issues such as safety, security, privacy and ethical principles; detect and eliminate bias that could result in harmful or unfair clinical decisions; and build trust in and societal acceptance of AI.

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Section: Classification Of Ai and Robotic Systems In Medicinementioning

confidence: 99%

A Review of Artificial Intelligence and Robotics in Transformed Health Ecosystems

Denecke

Baudoin²

2022

Front. Med.

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“…As we prepare to step out and bring normalcy in daily life, it becomes even more important to frequently disinfect places of high-risk like parks, public transport, and open market, etc. To implement it, authorities have come up with a solution of deploying agriculture spraying drones for frequent disinfection of high-risk area within short span of time (China Daily 2020 ; Clay and Milk 2020 ). The area covered and the speed by which these drones can disinfect are unparallel compared to other spray techniques.…”

Section: Drone Technologymentioning

confidence: 99%

“…The 'Intuitive' made 'daVinci Surgical Robot' has received much attention in this field and works with a surgical software console that can be operated by a physician (Intuitive 2020). Another example is using a teleoperated robot arm to perform ultrasound examinations (Carriere et al 2019). Along with this, by clubbing tele-robots with mobile phone software, it is possible to use the instrument for a regular check-up of blood oxygen level, pulse, blood pressure, and temperature, etc.…”

Section: Tele-robotmentioning

confidence: 99%

Smart technologies driven approaches to tackle COVID-19 pandemic: a review

Khan

Kushwah²,

Singh³

et al. 2021

3 Biotech

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“…Admittance controller uses a predefined relationship between force and position. Authors in Carriere et al ( 2019 ) use admittance control to ensure compliance in a co-manipulated US scanning system controlling the force applied to the tissue and reducing exerted force from the sonographer. The method proposed in Piwowarczyk et al ( 2020 ) uses an admittance controller to scale the force applied by the user on the robot in relation to force applied to the environment.…”

Section: Prior Workmentioning

confidence: 99%

Robotic Ultrasound Scanning With Real-Time Image-Based Force Adjustment: Quick Response for Enabling Physical Distancing During the COVID-19 Pandemic

et al. 2021

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During an ultrasound (US) scan, the sonographer is in close contact with the patient, which puts them at risk of COVID-19 transmission. In this paper, we propose a robot-assisted system that automatically scans tissue, increasing sonographer/patient distance and decreasing contact duration between them. This method is developed as a quick response to the COVID-19 pandemic. It considers the preferences of the sonographers in terms of how US scanning is done and can be trained quickly for different applications. Our proposed system automatically scans the tissue using a dexterous robot arm that holds US probe. The system assesses the quality of the acquired US images in real-time. This US image feedback will be used to automatically adjust the US probe contact force based on the quality of the image frame. The quality assessment algorithm is based on three US image features: correlation, compression and noise characteristics. These US image features are input to the SVM classifier, and the robot arm will adjust the US scanning force based on the SVM output. The proposed system enables the sonographer to maintain a distance from the patient because the sonographer does not have to be holding the probe and pressing against the patient's body for any prolonged time. The SVM was trained using bovine and porcine biological tissue, the system was then tested experimentally on plastisol phantom tissue. The result of the experiments shows us that our proposed quality assessment algorithm successfully maintains US image quality and is fast enough for use in a robotic control loop.

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An Admittance-Controlled Robotic Assistant for Semi-Autonomous Breast Ultrasound Scanning

Cited by 23 publications

References 19 publications

A Review of Artificial Intelligence and Robotics in Transformed Health Ecosystems

A Review of Artificial Intelligence and Robotics in Transformed Health Ecosystems

Smart technologies driven approaches to tackle COVID-19 pandemic: a review

Robotic Ultrasound Scanning With Real-Time Image-Based Force Adjustment: Quick Response for Enabling Physical Distancing During the COVID-19 Pandemic

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