Robotized Tele-Echography: An Assisting Visibility Tool to Support Expert Diagnostic

Krupa, Alexandre; Folio, David; Novales, Cyril; Vieyres, Pierre; Li, Tao

doi:10.1109/jsyst.2014.2314773

Cited by 32 publications

(21 citation statements)

References 26 publications

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“…In [11], intensity-based visual servoing of 2D and 3D probes is used to compensate for organ motion. A shared control method to maintain visibility constraints during teleechography is proposed in [12].…”

Section: Introductionmentioning

confidence: 99%

Confidence-driven control of an ultrasound probe: Target-specific acoustic window optimization

Chatelain

Krupa

Navab

2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

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We propose a control framework to optimize the quality of robotic ultrasound imaging while tracking an anatomical target. We use a multitask approach to control the in-plane motion of a convex probe mounted on the end-effector of a robotic arm, based not only on the position of the target in the image, but also on features extracted from an ultrasound confidence map. The resulting control law therefore guarantees a good image quality, while keeping the target aligned with the central ultrasound scan-line. Potential applications of the proposed approach are, for example, teleoperated ultrasound examination, motion compensation for ultrasound-guided interventions, or automatic ultrasound acquisition. We demonstrate our approach with experiments on an ultrasound examination training phantom in motion.

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Section: Introductionmentioning

confidence: 99%

Confidence-driven control of an ultrasound probe: Target-specific acoustic window optimization

Chatelain

Krupa

Navab

2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

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“…By extracting features from live 2D or 3D images, tracking of various anatomies such as the carotid artery as well as of surgical tools has been achieved based on ultrasound [16,17]. When coupled with a robot control scheme, applications such as organ motion compensation [18] and visibility maintenance in tele-operation [19] become feasible.…”

Section: Related Workmentioning

confidence: 99%

3D ultrasound registration-based visual servoing for neurosurgical navigation

et al. 2017

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Purpose We present a fully image-based visual servoing framework for neurosurgical navigation and needle guidance. The proposed servo-control scheme allows for compensation of target anatomy movements, maintaining high navigational accuracy over time, and automatic needle guide alignment for accurate manual insertions. Method Our system comprises a motorized 3D ultrasound (US) transducer mounted on a robotic arm and equipped with a needle guide. It continuously registers US sweeps in real time with a pre-interventional plan based on CT or MR images and annotations. While a visual control law maintains anatomy visibility and alignment of the needle guide, a force controller is employed for acoustic coupling and tissue pressure. We validate the servoing capabilities of our method on a geometric gel phantom and real human anatomy, and the needle targeting accuracy using CT images on a lumbar spine gel phantom under neurosurgery conditions. Results Despite the varying resolution of the acquired Oliver Zettinig and Benjamin Frisch have contributed equally to this work. Yu-Mi Ryang and Nassir Navab have contributed equally to this work.B Oliver Zettinig 3D sweeps, we achieved direction-independent positioning errors of 0.35±0.19 mm and 0.61 • ±0.45 • , respectively. Our method is capable of compensating movements of around 25 mm/s and works reliably on human anatomy with errors of 1.45 ± 0.78 mm. In all four manual insertions by an expert surgeon, a needle could be successfully inserted into the facet joint, with an estimated targeting accuracy of 1.33±0.33 mm, superior to the gold standard. Conclusion The experiments demonstrated the feasibility of robotic ultrasound-based navigation and needle guidance for neurosurgical applications such as lumbar spine injections.

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“…The sonographer integrates the position of the probe and the motion of his hand to analyze the resulting 2D ultrasound images. Since the late 1990s, in order to deliver equitable healthcare in medically isolated settings, several concepts of remote robotized ultrasonography have been developed, giving the sonographer the ability to move an ultrasound probe on a distant patient [7,20,10,5]. TER [22] or Masuda [11] used fixed robots attached to a table.…”

Section: Introductionmentioning

confidence: 99%

A Pneumatic Haptic Probe Replica for Tele-Robotized Ultrasonography

Abdallah

Gatwaza

Morette

et al. 2018

Lecture Notes in Computer Science

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Robotized Tele-Echography: An Assisting Visibility Tool to Support Expert Diagnostic

Cited by 32 publications

References 26 publications

Confidence-driven control of an ultrasound probe: Target-specific acoustic window optimization

Confidence-driven control of an ultrasound probe: Target-specific acoustic window optimization

3D ultrasound registration-based visual servoing for neurosurgical navigation

A Pneumatic Haptic Probe Replica for Tele-Robotized Ultrasonography

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