Automatic force-compliant robotic ultrasound screening of abdominal aortic aneurysms

Virga, Salvatore; Zettinig, Oliver; Esposito, Marco; Pfister, Karin; Frisch, B.; Neff, Thomas; Navab, Nassir; Hennersperger, Christoph

doi:10.1109/iros.2016.7759101

Cited by 92 publications

(66 citation statements)

References 22 publications

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“…Other APIs exist for the KUKA iiwa, such as [19] and [49] that focus on the interaction between operators and the Fig. 1 The KUKA iiwa robotic arm with passive telescopic magnetic end-effector robot.…”

Section: Kuka Iiwa Robotic Arm and Apimentioning

confidence: 99%

“…Khansari-Zadeh and Khatib [19] focus on learning actions from human demonstration, displaying different impedance to motions for critical parts of the exercise. Virga et al [49] investigate force-compliant motion within the medical domain. Both of the APIs require specific components installing upon the KUKA iiwa, which require modification of the operational parameters on board the KUKA Sunrise controller; these either change the modes of operation or require custom installation of third-party libraries.…”

Section: Kuka Iiwa Robotic Arm and Apimentioning

confidence: 99%

See 1 more Smart Citation

Language-free graphical signage improves human performance and reduces anxiety when working collaboratively with robots

Eimontaite

Gwilt

Cameron

et al. 2018

Int J Adv Manuf Technol

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As robots become more ubiquitous, and their capabilities extend, novice users will require intuitive instructional information related to their use. This is particularly important in the manufacturing sector, which is set to be transformed under Industry 4.0 by the deployment of collaborative robots in support of traditionally low-skilled, manual roles. In the first study of its kind, this paper reports how static graphical signage can improve performance and reduce anxiety in participants physically collaborating with a semi-autonomous robot. Three groups of 30 participants collaborated with a robot to perform a manufacturing-type process using graphical information that was relevant to the task, irrelevant, or absent. The results reveal that the group exposed to relevant signage was significantly more accurate in undertaking the task. Furthermore, their anxiety towards robots significantly decreased as a function of increasing accuracy. Finally, participants exposed to graphical signage showed positive emotional valence in response to successful trials. At a time when workers are concerned about the threat posed by robots to jobs, and with advances in technology requiring upskilling of the workforce, it is important to provide intuitive and supportive information to users. Whilst increasingly sophisticated technical solutions are being sought to improve communication and confidence in human-robot co-working, our findings demonstrate how simple signage can still be used as an effective tool to reduce user anxiety and increase task performance.

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Section: Kuka Iiwa Robotic Arm and Apimentioning

confidence: 99%

Section: Kuka Iiwa Robotic Arm and Apimentioning

confidence: 99%

Language-free graphical signage improves human performance and reduces anxiety when working collaboratively with robots

Eimontaite

Gwilt

Cameron

et al. 2018

Int J Adv Manuf Technol

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“…A commercial robotic manipulator has been released (LBR Med, KUKA AG, Augsburg, Germany) which is suitable for use in clinical environments due to its conformity with medical device safety (ISO 60601) and medical software regulations (ISO 62304). Current research suggests that such robots can be applied in diagnostics to autonomously perform aorta measurements [16], in combination with previously acquired MRI scans to autonomously find standard view-planes [17] and in intraoperative procedures to autonomously track surgical tools [18], amongst others. Whilst such robotic platforms allow for great flexibility through a large workspace and high manipulability, the use of large-scale robotic manipulators can pose various disadvantages for clinical integration.…”

Section: Introductionmentioning

confidence: 99%

Design and Integration of a Parallel, Soft Robotic End-Effector for Extracorporeal Ultrasound

Lindenroth

Housden

Wang

et al. 2020

IEEE Trans. Biomed. Eng.

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In this work we address limitations in state-of-theart ultrasound robots by designing and integrating the first soft robotic system for ultrasound imaging. It makes use of the inherent qualities of soft robotics technologies to establish a safe, adaptable interaction between ultrasound probe and patient. We acquire clinical data to establish the movement ranges and force levels required in prenatal foetal ultrasound imaging and design our system accordingly. The end-effectors stiffness characteristics allow for it to reach the desired workspace while maintaining a stable contact between ultrasound probe and patient under the determined loads. The system exhibits a high degree of safety due to its inherent compliance in the transversal direction. We verify the mechanical characteristics of the end-effector, derive and validate a kinetostatic model and demonstrate the robots controllability with and without external loading. The imaging capabilities of the robot are shown in a tele-operated setting on a foetal phantom. The design exhibits the desired stiffness characteristics with a high stiffness along the ultrasound transducer and a high compliance in lateral direction. Twist is constrained using a braided mesh reinforcement. The model can accurately predict the end-effector pose with a mean error of about 6% in position 7% in orientation. The derived controller is, with an average position error of 0.39mm able to track a target pose efficiently without and with externally applied loads. Finally, the images acquired with the system are of equally good quality compared to a manual sonographer scan.

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“…More advanced image processing, including the computation of confidence maps, recently enabled more reliable automated maintenance of US quality [20], which was applied to abdominal aortic aneurysm screening [21].…”

Section: Related Workmentioning

confidence: 99%

“…The manipulator is equipped with torque sensors in all joints, allowing for impedance control applications. A KUKA Sunrise Connectivity SmartServo application 2 is utilized to connect to ROS (Robot Operating System 3 ) on a client workstation for reporting the current robot status with 400 Hz, including the current end-effector pose w T r , and executing incoming commands [21]. The robot is certified for human interaction and can be safely used in collaborative scenarios.…”

Section: System Setupmentioning

confidence: 99%

3D ultrasound registration-based visual servoing for neurosurgical navigation

et al. 2017

Self Cite

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Purpose We present a fully image-based visual servoing framework for neurosurgical navigation and needle guidance. The proposed servo-control scheme allows for compensation of target anatomy movements, maintaining high navigational accuracy over time, and automatic needle guide alignment for accurate manual insertions. Method Our system comprises a motorized 3D ultrasound (US) transducer mounted on a robotic arm and equipped with a needle guide. It continuously registers US sweeps in real time with a pre-interventional plan based on CT or MR images and annotations. While a visual control law maintains anatomy visibility and alignment of the needle guide, a force controller is employed for acoustic coupling and tissue pressure. We validate the servoing capabilities of our method on a geometric gel phantom and real human anatomy, and the needle targeting accuracy using CT images on a lumbar spine gel phantom under neurosurgery conditions. Results Despite the varying resolution of the acquired Oliver Zettinig and Benjamin Frisch have contributed equally to this work. Yu-Mi Ryang and Nassir Navab have contributed equally to this work.B Oliver Zettinig 3D sweeps, we achieved direction-independent positioning errors of 0.35±0.19 mm and 0.61 • ±0.45 • , respectively. Our method is capable of compensating movements of around 25 mm/s and works reliably on human anatomy with errors of 1.45 ± 0.78 mm. In all four manual insertions by an expert surgeon, a needle could be successfully inserted into the facet joint, with an estimated targeting accuracy of 1.33±0.33 mm, superior to the gold standard. Conclusion The experiments demonstrated the feasibility of robotic ultrasound-based navigation and needle guidance for neurosurgical applications such as lumbar spine injections.

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Automatic force-compliant robotic ultrasound screening of abdominal aortic aneurysms

Cited by 92 publications

References 22 publications

Language-free graphical signage improves human performance and reduces anxiety when working collaboratively with robots

Language-free graphical signage improves human performance and reduces anxiety when working collaboratively with robots

Design and Integration of a Parallel, Soft Robotic End-Effector for Extracorporeal Ultrasound

3D ultrasound registration-based visual servoing for neurosurgical navigation

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