Strategy for Monitoring Cardiac Interventions with an Intelligent Robotic Ultrasound Device

Abstract

In recent years, 3D trans-oesophageal echocardiography (TOE) has become widely used for monitoring cardiac interventions. The control of the TOE probe during the procedure is a manual task which is tedious and harmful for the operator when exposed to radiation. To improve this technique, an add-on robotic system has been developed for holding and manipulating a commercial TOE probe. This paper focuses on the probe adjustment strategy in order to accurately monitor the moving intra-operative catheters. The positioning strategy is divided into an initialization step based on a pre-planning method, and a localized adjustment step based on the robotic differential kinematics. A series of experiments was performed to evaluate the initialization and the localized adjustment steps. The results indicate a mean error less than 10 mm from the phantom experiments for the initialization step, and a median error less than 1.5 mm from the computer-based simulation experiments for the localized adjustment step. Compared to the much bigger image volume, it is concluded that the proposed methods are feasible for this application. Future work will focus on evaluating the method in a more realistic TOE scanning scenario.

A Survey on Analog-to-Digital Converter Integrated Circuits for Miniaturized High Resolution Ultrasonic Imaging System

“…Ultrasonic imaging is one of the most widely used imaging methods in nondestructive testing and medical diagnosis due to its advantages of safety, simplicity, cheapness, penetrability, and non-ionization [1][2][3][4][5][6]. Due to the demand of high-resolution medical imaging equipment, ultrasonic imaging systems (UIS) have been rapidly developed and applied in many fields [7][8][9][10][11][12][13].…”