Automatic Generation of Autonomous Ultrasound Scanning Trajectory Based on 3-D Point Cloud

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

doi:10.1109/tmrb.2022.3214493

Cited by 7 publications

(4 citation statements)

References 35 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In addition, the QP-BLEIC solver provided by the ALGLIB library 1 is adopted for the QP online optimization of Eq. (15). Additionally, the sensor records and measures the contact force/torque during the task execution.…”

Section: B Energy Tank-enhanced System Passivitymentioning

confidence: 99%

“…Subsequently, the stiffness value was set in the Cartesian impedance controller of the robotic manipulator. Moreover, Tan et al [15] investigated the impact of displacement on the contact force applied to the patient's body during the medical scanning task using a robotic manipulator incorporated with an admittance controller. Typically, accurate and real-time measurement and stiffness estimation are challenging, particularly in deformable contact and unstructured environments [8].…”

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.

View full text Add to dashboard Cite

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.

show abstract

Section: B Energy Tank-enhanced System Passivitymentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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

Fu,

Burzo,

Iovene

et al. 2024

IEEE Trans. Instrum. Meas.

View full text Add to dashboard Cite

show abstract

“…In addition, many patients report discomfort during US examinations owing to the sonographer's shaky hands and inability to control the contact force accurately. US images have a variety of viewpoints, and even different pressures from the same viewpoint can result in clinical differences in US images, making US scanning highly dependent on the physician's diagnostic imaging experience [4]. Furthermore, this technical workload has exacerbated the shortage of sonographers [5], making it difficult for patients in remote rural areas to receive high-level US examinations due to the lack of experienced sonographers.…”

Section: Introductionmentioning

confidence: 99%

Force Tracking Control Method for Robotic Ultrasound Scanning System under Soft Uncertain Environment

Jiang,

Luo,

Wang

et al. 2024

Actuators

View full text Add to dashboard Cite

Robotic ultrasound scanning has excellent potential to reduce physician workload, obtain higher-quality imaging, and reduce costs. However, the traditional admittance control strategy for robotics cannot meet the high-precision force control requirements for robots, which are critical for improving image quality and ensuring patient safety. In this study, an integral adaptive admittance control strategy is proposed for contact force control between an ultrasound probe and human skin to enhance the accuracy of force tracking. First, a robotic ultrasound scanning system is proposed, and the system’s overall workflow is introduced. Second, an adaptive admittance control strategy is designed to estimate the uncertain environmental information online, and the estimated parameters are used to modify the reference trajectory. On the basis of ensuring the stability of the system, an integral controller is then introduced to improve the steady-state response. Subsequently, the stability of the proposed strategy is analysed. In addition, a gravity compensation process is proposed to obtain the actual contact force. Finally, through a simulation analysis, the effectiveness of the strategy is discussed. Simultaneously, a series of experiments are carried out on the robotic ultrasound scanning system, and the results show that the strategy can successfully maintain a constant contact force under soft uncertain environments, which effectively improves the efficiency of scanning.

show abstract

“…During the autonomous US scanning process, the magnitude and variation of contact force significantly impact the quality and stability of US images, as observed by Ipsen et al (2021) . Researchers have proposed various control algorithms to maintain a constant contact force, including impedance control ( Suligoj et al, 2021 ), admittance control ( Tan et al, 2022 ; Wang Z. et al, 2023 ), and PID control ( Ma et al, 2021 ; Zhang et al, 2021 ; 2022 ). Moreover, due to the significant fluctuations in window quality during cardiac US scanning, researchers have introduced several US image servo control algorithms to ensure stable, high-quality imaging.…”

Section: Introductionmentioning

confidence: 99%

Autonomous ultrasound scanning robotic system based on human posture recognition and image servo control: an application for cardiac imaging

Tang,

Wang,

Luo

et al. 2024

Front. Robot. AI

View full text Add to dashboard Cite

In traditional cardiac ultrasound diagnostics, the process of planning scanning paths and adjusting the ultrasound window relies solely on the experience and intuition of the physician, a method that not only affects the efficiency and quality of cardiac imaging but also increases the workload for physicians. To overcome these challenges, this study introduces a robotic system designed for autonomous cardiac ultrasound scanning, with the goal of advancing both the degree of automation and the quality of imaging in cardiac ultrasound examinations. The system achieves autonomous functionality through two key stages: initially, in the autonomous path planning stage, it utilizes a camera posture adjustment method based on the human body’s central region and its planar normal vectors to achieve automatic adjustment of the camera’s positioning angle; precise segmentation of the human body point cloud is accomplished through efficient point cloud processing techniques, and precise localization of the region of interest (ROI) based on keypoints of the human body. Furthermore, by applying isometric path slicing and B-spline curve fitting techniques, it independently plans the scanning path and the initial position of the probe. Subsequently, in the autonomous scanning stage, an innovative servo control strategy based on cardiac image edge correction is introduced to optimize the quality of the cardiac ultrasound window, integrating position compensation through admittance control to enhance the stability of autonomous cardiac ultrasound imaging, thereby obtaining a detailed view of the heart’s structure and function. A series of experimental validations on human and cardiac models have assessed the system’s effectiveness and precision in the correction of camera pose, planning of scanning paths, and control of cardiac ultrasound imaging quality, demonstrating its significant potential for clinical ultrasound scanning applications.

show abstract

Automatic Generation of Autonomous Ultrasound Scanning Trajectory Based on 3-D Point Cloud

Cited by 7 publications

References 35 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

Force Tracking Control Method for Robotic Ultrasound Scanning System under Soft Uncertain Environment

Autonomous ultrasound scanning robotic system based on human posture recognition and image servo control: an application for cardiac imaging

Contact Info

Product

Resources

About