Development of a control algorithm for the ultrasound scanning robot (NCCUSR) using ultrasound image and force feedback

Kim, Yeoun-Jae; Seo, Jong Hyun; Kim, Kwang Gi

doi:10.1002/rcs.1756

Cited by 21 publications

(16 citation statements)

References 30 publications

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“…An autonomous US robotic solution has been developed by Virga et al (2016 ) for scanning abdominal aortic aneurysms, whereby the optimal probe pressure is estimated offline for enhanced image acquisition, and the probe’s orientation estimated online for maximizing the aorta’s visibility. Kim et al (2017 ) designed a control algorithm for an US scanning robot using US images and force measurements as feedback tested on a thyroid phantom. The authors developed their own robotic manipulator, which, however, has too limited of a reach to scan a human upper torso.…”

Section: Introductionmentioning

confidence: 99%

Autonomous Robotic Point-of-Care Ultrasound Imaging for Monitoring of COVID-19–Induced Pulmonary Diseases

et al. 2021

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The COVID-19 pandemic has emerged as a serious global health crisis, with the predominant morbidity and mortality linked to pulmonary involvement. Point-of-Care ultrasound (POCUS) scanning, becoming one of the primary determinative methods for its diagnosis and staging, requires, however, close contact of healthcare workers with patients, therefore increasing the risk of infection. This work thus proposes an autonomous robotic solution that enables POCUS scanning of COVID-19 patients’ lungs for diagnosis and staging. An algorithm was developed for approximating the optimal position of an ultrasound probe on a patient from prior CT scans to reach predefined lung infiltrates. In the absence of prior CT scans, a deep learning method was developed for predicting 3D landmark positions of a human ribcage given a torso surface model. The landmarks, combined with the surface model, are subsequently used for estimating optimal ultrasound probe position on the patient for imaging infiltrates. These algorithms, combined with a force–displacement profile collection methodology, enabled the system to successfully image all points of interest in a simulated experimental setup with an average accuracy of 20.6 ± 14.7 mm using prior CT scans, and 19.8 ± 16.9 mm using only ribcage landmark estimation. A study on a full torso ultrasound phantom showed that autonomously acquired ultrasound images were 100% interpretable when using force feedback with prior CT and 88% with landmark estimation, compared to 75 and 58% without force feedback, respectively. This demonstrates the preliminary feasibility of the system, and its potential for offering a solution to help mitigate the spread of COVID-19 in vulnerable environments.

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Section: Introductionmentioning

confidence: 99%

Autonomous Robotic Point-of-Care Ultrasound Imaging for Monitoring of COVID-19–Induced Pulmonary Diseases

et al. 2021

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“…Some robotic US work has been accomplished with regards to the thyroid as organ of interest. Kim et al [10] developed a control algorithm based on position and force feedback, for an US scanning robot. The pressure force applied to the thyroid phantom was controlled by analyzing the root mean square error (RMSE) between consecutive images.…”

Section: Introduction and State Of The Artmentioning

confidence: 99%

RSV: Robotic Sonography for Thyroid Volumetry

Zielke,

Eilers,

Busam

et al. 2021

Preprint

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“…Also, a variety of image features has been used to achieve both pose corrections of the probe and acoustic coupling. These include image intensity, image similarity, feature tracking, image moments, speckle tracking and confidence maps [69,73,[75][76][77][78][79]. Some methods are more suitable to track a target, whereas others are also relevant for volume acquisitions.…”

Section: Robotic Ultrasound Acquisitionsmentioning

confidence: 99%

“…Visual servoing algorithms link end-effector (EE) behavior to image features. In [75] and [76], an intensity based method is proposed to control the probe. Additionally, in-plane motions can be controlled using feature tracking [77], while out-of-plane motions can be controlled by image moments [78], speckle correlation [79] or block matching [169].…”

Section: Introductionmentioning

confidence: 99%

“…Force feedback is mainly used to keep a constant pressure during scanning as well as to align the probe with the surface normal of the tissue [69-71, 73, 163, 179]. Kim et al [76] link the applied force to the image quality. Our previous work showed that confidence maps are also an option to keep the US probe in contact with the tissue [139].…”

Section: Introductionmentioning

confidence: 99%

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Robot-assisted biopsies on mr-detected lesions

Welleweerd¹

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Development of a control algorithm for the ultrasound scanning robot (NCCUSR) using ultrasound image and force feedback

Abstract: The proposed control method can be applied to control the ultrasound scanning robot. However, more work must be completed to verify the proposed control method in order to become clinically feasible. Copyright © 2016 John Wiley & Sons, Ltd.

Cited by 21 publications

References 30 publications

Autonomous Robotic Point-of-Care Ultrasound Imaging for Monitoring of COVID-19–Induced Pulmonary Diseases

Autonomous Robotic Point-of-Care Ultrasound Imaging for Monitoring of COVID-19–Induced Pulmonary Diseases

RSV: Robotic Sonography for Thyroid Volumetry

Robot-assisted biopsies on mr-detected lesions

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