Ergonomic control strategies for a handheld force-controlled ultrasound probe

Gilbertson, Matthew W.; Anthony, Brian W.

doi:10.1109/iros.2012.6385996

Cited by 29 publications

(17 citation statements)

References 15 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Coupled with the context of the imaging environment, and real-time methods are necessary Elad et al [66] Mixed L1/L2 optimisation methods to promote sparsity Molina et al [67] Hierarchical variational Bayesian methods to approximate the posterior Pickup et al [68] Integration of registration uncertainty Noonan et al [87] Force adaptive with an embedded 6-axis force/torque sensor (ATI Nano17) Giataganas et al [88] Force-contact probe for integration with surgical robot platforms(da Vinci) Latt et al [89,90] Embedded force sensing into imaging probe Gilbertson et al [91] Incorporate intelligent force control schemes for imaging probe Ang et al [92], Becker et al [93], Maclachlan et al [94] Incorporating tremor cancellation by using piezoelectric actuators combined with visual servoing…”

Section: Instrumentationmentioning

confidence: 99%

“…An enhanced version of this device was developed for in vivo deployment [90]. Gilbertson et al developed a hand-held force control system for maintaining consistent contact of an ultrasound imaging probe [91]. Actuator travel limits functions were added to prevent overshot of the actuation system.…”

Section: Force Control Systemsmentioning

confidence: 99%

“…These devices work by sensing their own motion, and [90]; (E) A hand-held force control system for maintaining consistent contact of an ultrasound imaging probe: reprinted with IEEE permission from [91]; (F) Micron incorporating tremor cancellation by using piezoelectric actuators combined with visual servoing: reprinted with IEEE permission from [94].…”

Section: Force Control Systemsmentioning

confidence: 99%

See 2 more Smart Citations

Endomicroscopy for Computer and Robot Assisted Intervention

Zuo

Yang

2017

IEEE Rev. Biomed. Eng.

View full text Add to dashboard Cite

Abstract-Endomicroscopy is a new technique that allows human tissue to be characterized in vivo, and in situ, circumventing the need for conventional biopsy and histology. Despite increased application and growing research interests in this area, the clinical application of endomicroscopy, however, is limited by difficulties in ergonomic control, consistent probe-tissue contact, large area surveillance and retargeting. Recently, advances in high-speed imaging, mosaicing and robotics have aimed to address these difficulties. The development of robot-assisted devices in particular has shown great promises in extending the clinical potential of endomicroscopy. Issues related to miniaturization, adaptation to tissue deformation, control stability, force and position compensation, cost and sterility are being pursued by both research and commercial communities. In this paper, recent clinical and technical developments in different aspects of computer and robotic assisted endomicroscopy interventions including instrumentation, multiscale integration, and high-speed imaging techniques are presented. We further address emerging trends and new research opportunities towards more widespread clinical acceptance of robotically assisted endomicroscopy technologies.

show abstract

Section: Instrumentationmentioning

confidence: 99%

Section: Force Control Systemsmentioning

confidence: 99%

Section: Force Control Systemsmentioning

confidence: 99%

See 1 more Smart Citation

Endomicroscopy for Computer and Robot Assisted Intervention

Zuo

Yang

2017

IEEE Rev. Biomed. Eng.

View full text Add to dashboard Cite

show abstract

“…We have developed a number of handheld force-controlled systems to enhance commercial ultrasound probes [3][4][5] . The probe-patient contact force can be held constant to stabilize the image, swept through a range of forces, or cycled.…”

Section: Force Control Platformmentioning

confidence: 99%

Enhanced ultrasound for advanced diagnostics, ultrasound tomography for volume limb imaging and prosthetic fitting

Anthony

2016

SPIE Proceedings

Self Cite

View full text Add to dashboard Cite

Ultrasound imaging methods hold the potential to deliver low-cost, high-resolution, operator-independent and nonionizing imaging systems -such systems couple appropriate algorithms with imaging devices and techniques. The increasing demands on general practitioners motivate us to develop more usable and productive diagnostic imaging equipment. Ultrasound, specifically freehand ultrasound, is a low cost and safe medical imaging technique. It doesn't expose a patient to ionizing radiation. Its safety and versatility make it very well suited for the increasing demands on general practitioners, or for providing improved medical care in rural regions or the developing world. However it typically suffers from sonographer variability; we will discuss techniques to address user variability.We also discuss our work to combine cylindrical scanning systems with state of the art inversion algorithms to deliver ultrasound systems for imaging and quantifying limbs in 3-D in vivo. Such systems have the potential to track the progression of limb health at a low cost and without radiation exposure, as well as, improve prosthetic socket fitting. Current methods of prosthetic socket fabrication remain subjective and ineffective at creating an interface to the human body that is both comfortable and functional. Though there has been recent success using methods like magnetic resonance imaging and biomechanical modeling, a low-cost, streamlined, and quantitative process for prosthetic cup design and fabrication has not been fully demonstrated. Medical ultrasonography may inform the design process of prosthetic sockets in a more objective manner. This keynote talk presents the results of progress in this area.

show abstract

“…Another disadvantage is that it is difficult for sonographers to repeat a diagnostic procedure under exactly the same conditions (i.e., same pose and applied pressure); hence, studies comparing a patient's development over time are difficult, since exactly the same examination conditions cannot be reproduced at a later date [4][5]. For these reasons, a number of different robot-assisted ultrasound diagnostic systems have been proposed, with the aim to improve diagnostic images [5][6][7][8][9][10][11]. Researchers have proposed solutions involving passive and active arms involving spring mechanisms to compensate for gravitational forces, assisting sonographers to keep the ultrasound probe steady at a certain position [5].…”

Section: Introductionmentioning

confidence: 99%

An ergonomic handheld ultrasound probe providing contact forces and pose information

Noh

Housden

Gómez

et al. 2015

2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

View full text Add to dashboard Cite

This paper presents a handheld ultrasound probe which is integrated with sensors to measure force and pose (position/orientation) information. Using an integrated probe like this, one can relate ultrasound images to spatial location and create 3D ultrasound maps. The handheld device can be used by sonographers and also easily be integrated with robot arms for automated sonography. The handheld device is ergonomically designed; rapid attachment and removal of the ultrasound transducer itself is possible using easy-to-operate clip mechanisms. A cable locking mechanism reduces the impact that gravitational and other external forces have (originating from data and power supply cables connected to the probe) on our measurements. Gravitational errors introduced by the housing of the probe are compensated for using knowledge of the housing geometry and the integrated pose sensor that provides us with accurate orientation information. In this paper, we describe the handheld probe with its integrated force/pose sensors and our approach to gravity compensation. We carried out a set of experiments to verify the feasibility of our approach to obtain accurate spatial information of the handheld probe.

show abstract

Ergonomic control strategies for a handheld force-controlled ultrasound probe

Cited by 29 publications

References 15 publications

Endomicroscopy for Computer and Robot Assisted Intervention

Endomicroscopy for Computer and Robot Assisted Intervention

Enhanced ultrasound for advanced diagnostics, ultrasound tomography for volume limb imaging and prosthetic fitting

An ergonomic handheld ultrasound probe providing contact forces and pose information

Contact Info

Product

Resources

About