Robotic Ultrasound: View Planning, Tracking, and Automatic Acquisition of Transesophageal Echocardiography

Wang, Shuangyi; Singh, Davinder; Johnson, D.C.; Althoefer, Kaspar; Rhode, Kawal; Housden, James

doi:10.1109/mra.2016.2580478

Cited by 23 publications

(19 citation statements)

References 21 publications

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“…In the view-planning platform (Fig. 2(b)) described in [5], an automatically segmented heart 3-D model from the pre-scanned MR image, the corresponding manually segmented esophagus center line, and the virtual model of the TEE probe head can be loaded and viewed intuitively. The forward kinematics of the probe is modeled and the corresponding virtual 2-D ultrasound images are displayed based on the given robotic parameters [4].…”

Section: Robotic System and View-based Motion Planningmentioning

confidence: 99%

“…This function allows rapid motion planning of the acquisition if standard TEE views in the protocol are required as targets. Details of the auto-patient adaption method can be found in [5].…”

Section: Robotic System and View-based Motion Planningmentioning

confidence: 99%

“…4. Based on the result from the previous work [5], the cycle of measurement and adjustment is executed only one time, which has been shown to effectively improve the accuracy. Fig.…”

Section: Inverse Kinematics and Feedbackmentioning

confidence: 99%

“…A recently developed robotic system for TEE has made remote control possible [4] and we have subsequently proposed an automatic acquisition workflow (as shown in Fig. 1) [5] using this robot based on a view-planning platform for path-panning and an ultrasound-to-MR registration method [6] for locating the probe position when applying feedback. However, in the workflow described in [5], the probe tracking method based on registering 3-D echo images to pre-scanned MR models requires a close estimate of the probe pose.…”

Section: Introductionmentioning

confidence: 99%

“…1) [5] using this robot based on a view-planning platform for path-panning and an ultrasound-to-MR registration method [6] for locating the probe position when applying feedback. However, in the workflow described in [5], the probe tracking method based on registering 3-D echo images to pre-scanned MR models requires a close estimate of the probe pose. This was estimated based on the robotic kinematics, which could result in failures because the mechanical performance of the probe driven by the robot mechanism within the real esophagus could be different to the kinematics in the simulation environment.…”

Section: Introductionmentioning

confidence: 99%

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Probe Tracking and Its Application in Automatic Acquisition Using a Trans-Esophageal Ultrasound Robot

Wang

Singh²,

Lau

et al. 2017

Computer-Assisted and Robotic Endoscopy

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Robotic trans-esophageal echocardiography (TEE) has many advantages over the traditional manual control approach during cardiac surgical procedures in terms of stability, remote operation, and radiation safety. To further improve the usability of the robotic approach, development of an intelligent system using automatic acquisition of ultrasound images is proposed. This is addressed using a view planning platform in which the robot is controlled according to a pre-planned path during the acquisition. Considering the real mechanical movement, feedback of the probe position is essential in ensuring the success of the automatic acquisition. In this paper, we present a tracking method using the combination of an electromagnetic (EM) tracking system and image-based registration for the purpose of feedback control used in the automatic acquisition. Phantom experiments were performed to evaluate the accuracy and reliability of the tracking and the automatic acquisition. The results indicate a reliable performance of the tracking method. As for automatic acquisition, the mean positioning error in the near field of ultrasound where most structures of clinical interest are located is 10.44 mm. This phantom study is encouraging for the eventual clinical application of robotic-based automatic TEE acquisition.

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Section: Robotic System and View-based Motion Planningmentioning

confidence: 99%

Section: Robotic System and View-based Motion Planningmentioning

confidence: 99%

“…4. Based on the result from the previous work [5], the cycle of measurement and adjustment is executed only one time, which has been shown to effectively improve the accuracy. Fig.…”

Section: Inverse Kinematics and Feedbackmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Probe Tracking and Its Application in Automatic Acquisition Using a Trans-Esophageal Ultrasound Robot

Wang

Singh²,

Lau

et al. 2017

Computer-Assisted and Robotic Endoscopy

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IoT-Based Remote Control Study of a Robotic Trans-Esophageal Ultrasound Probe via LAN and 5G

Wang

Hou

Housden

et al. 2020

Lecture Notes in Computer Science

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A robotic trans-esophageal echocardiography (TEE) probe has been recently developed to address the problems with manual control in the X-ray environment when a conventional probe is used for interventional procedure guidance. However, the robot was exclusively to be used in local areas and the effectiveness of remote control has not been scientifically tested. In this study, we implemented an Internet-of-things (IoT)-based configuration to the TEE robot so the system can set up a local area network (LAN) or be configured to connect to an internet cloud over 5G. To investigate the remote control, backlash hysteresis effects were measured and analysed. A joystick-based device and a button-based gamepad were then employed and compared with the manual control in a target reaching experiment for the two steering axes. The results indicated different hysteresis curves for the left-right and up-down steering axes with the input wheel's deadbands found to be 15° and 8°, respectively. Similar magnitudes of positioning errors at approximately 0.5° and maximum overshoots at around 2.5° were found when manually and robotically controlling the TEE probe. The amount of time to finish the task indicated a better performance using the button-based gamepad over joystick-based device, although both were worse than the manual control. It is concluded that the IoT-based remote control of the TEE probe is feasible and a trained user can accurately manipulate the probe. The main identified problem was the backlash hysteresis in the steering axes, which can result in continuous oscillations and overshoots.

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Diagnostic posture control system for seated-style echocardiography robot

et al. 2023

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Purpose Conventional robotic ultrasound systems were utilized with patients in supine positions. Meanwhile, the limitation of the systems is that it is difficult to evacuate the patients in case of emergency (e.g., patient discomfort and system failure) because the patients are restricted between the robot system and bed. Therefore, we validated a feasibility study of seated-style echocardiography using a robot. Method Preliminary experiments were conducted to verify the following two points: (1) diagnostic image quality due to the sitting posture angle and (2) physical load due to the sitting posture angle. For reducing the physical burden, two unique mechanisms were incorporated into the system: (1) a leg pendulum base mechanism to reduce the load on the legs when the lateral bending angle increases, and (2) a roll angle division by a lumbar lateral bending and thoracic rotation mechanisms. Results Preliminary results demonstrated that adjusting the diagnostic posture angle allowed to obtain the views, including cardiac disease features, as in the conventional examination. The results also demonstrated that the body load reduction mechanism incorporated in the results could reduce the physical load in the seated echocardiography. Furthermore, this system was shown to provide greater safety and shorter evacuation times than conventional systems. Conclusion These results indicate that diagnostic echocardiographic images can be obtained by seated-style echocardiography. It was also suggested that the proposed system can reduce the physical load and guarantee a sense of safety and emergency evacuation. These results demonstrated the possibility of the usage of the seated-style echocardiography robot.

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Robotic Ultrasound: View Planning, Tracking, and Automatic Acquisition of Transesophageal Echocardiography

Cited by 23 publications

References 21 publications

Probe Tracking and Its Application in Automatic Acquisition Using a Trans-Esophageal Ultrasound Robot

Probe Tracking and Its Application in Automatic Acquisition Using a Trans-Esophageal Ultrasound Robot

IoT-Based Remote Control Study of a Robotic Trans-Esophageal Ultrasound Probe via LAN and 5G

Diagnostic posture control system for seated-style echocardiography robot

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