Human abdomen recognition using camera and force sensor in medical robot system for automatic ultrasound scan

Abstract

Physicians use ultrasound scans to obtain real-time images of internal organs, because such scans are safe and inexpensive. However, people in remote areas face difficulties to be scanned due to aging society and physician's shortage. Hence, it is important to develop an autonomous robotic system to perform remote ultrasound scans. Previously, we developed a robotic system for automatic ultrasound scan focusing on human's liver. In order to make it a completely autonomous system, we present in this paper a way to autonomously localize the epigastric region as the starting position for the automatic ultrasound scan. An image processing algorithm marks the umbilicus and mammary papillae on a digital photograph of the patient's abdomen. Then, we made estimation for the location of the epigastric region using the distances between these landmarks. A supporting algorithm distinguishes rib position from epigastrium using the relationship between force and displacement. We implemented these algorithms with the automatic scanning system into an apparatus: a Mitsubishi Electric's MELFA RV-1 six axis manipulator. Tests on 14 healthy male subjects showed the apparatus located the epigastric region with a success rate of 94%. The results suggest that image recognition was effective in localizing a human body part.

Military training-related abdominal injuries and diseases: Common types, prevention and treatment

“…The artificial intelligence and robot diagnosis system that has emerged in recent years are expected to enable first-responders to make accurate diagnosis and assessment of injuries on scene, and to take reasonable treatment measures earlier. 69 , 70 It is expected to perform surgical intervention for the injured in the first time with the same effect as in hospital. It is believed that in the near future, the research and development of technical equipment will greatly help improve the prevention and treatment capacity for military training-related abdominal injuries and diseases.…”

Roboterbasierte Ultraschallsteuerung

“…Diverse Systeme zur robotergestützten Ultraschallbildgebung wurden in den letzten Jahren entwickelt, sowohl für diagnostische Zwecke (z. B. Karotis- [19], Beinvenen- [11] oder Leber-Scans [18]) als auch für interventionelle Anwendungsfälle (Nadelpunktionen [29] und Tumorverfolgung [24]). Die Vorteile der automatisierten Schallkopfführung liegen dabei vor allem in der Reproduzierbarkeit der Bilderfas- Ob sich ein solches System in den klinischen Alltag integrieren lässt, hängt außerdem von der Akzeptanz der Anwender und nicht zuletzt von der des Patien-ten ab.…”

From on-body sensors to in-body data for health monitoring and medical robotics: A survey

“…x [15] Refinement of muscle force estimation x x x [16] Quantification of muscle forces x x x [10] Validation of tempo 3.1 wireless sensors with optokinetic cameras x [11] Estimation of the wrist angle using only EMG and musculoskeletal model x Goniometer [17] Gait analysis using tempo 3 sensors x x [18] Evaluate from musculoskeletal model key parameters with only accelerometer x [19] Study of the abdominal and back muscles during seated balance x [20] Measuring synergies during standing-up motion using EMG x x x [21] Using Camera and Force Sensor in Medical Robot System for automatic ultrasound Scan x x Ultrasound [22] Controlling Humanoid Robots with Human Motion x [3] Decomposition of the vertical ground reaction forces during gait on a single force plate x [23] Effect of long-term orthotic treatment on gait biomechanics in adolescent idiopathic scoliosis…”