Abstract
This paper presents a new robotic system designed to assist sonographers in performing ultrasound examinations by addressing common limitations of sonography, namely the physical fatigue that can result from performing the examination, and the difficulty in interpreting ultrasound data. The proposed system comprises a robot manipulator that operates the transducer, and an integrated user interface that offers 3D visualization and a haptic device as the main user interaction tool. The sonographer controls the slave robot movements either haptically (collaborative tele-operation mode), or by prior programming of a desired path (semi-automatic mode). A force controller maintains a constant contact force between the transducer and the patient’s skin while the robot drives the transducer to the desired anatomical locations. The ultrasound imaging system is connected to a 3D visualization application which registers in real time the streaming 2D images generated by the transducer and displays the resulting data as 3D volumetric representation which can be further examined off-line.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsPreview
Unable to display preview. Download preview PDF.
References
Lawrence, D.: Stability and transparency in bilateral teleoperation. IEEE Trans. on Robotics and Automation 9(5), 624–637 (1993)
Cortesao, R.: Kalman Techniques for Intelligent Control Systems: Theory and Robotics Experiments. PhD Thesis, University of Coimbra
Vanderpool, H.E., Friis, E.A., Smith, B.S., Harms, K.L.: Prevalence of carpal tunnel syndrome and other work-related musculoskeletal problems in cardiac sonographers. J. Occup. Med. 35(6), 604–610 (1993)
Zhu, W.H., Salcudean, S.E., Bachmann, S.: Abolmaesumi: Motion/Force/Image Control of a Diagnostic Ultrasound Robot. In: Proceedings of the IEEE International Conference on Robotics and Automation, San Francisco (April 2000)
Park, J., Khatib, O.: A Haptic Teleoperation Approach Based on Contact Force Control. In: IJRR (2006)
Conti, F., Khatib, O.: Spanning Large Workspaces Using Small Haptic Devices. In: World Haptics , Pisa, Italy (2005)
Conti, F., Barbagli, F., Salisbury, K.: The CHAI Libraries. In: Eurohaptics, Dublin, Ireland (June 2003)
Pierrot, F., Dombre, E., Dgoulange, E., Urbain, L., Caron, P., Boudet, S., Garipy, J., Mgnien, J.-L.: Hippocrate: a safe robot arm for medical applications with force feedback. Medical Image Analysis 3(3), 285–300 (1999)
Vilchis, A., Troccaz, J., Cinquin, P., Masuda, K., Pellissier, F.: A New Robot Architecture for Tele-Echography. IEEE Transactions on Robotics and Automation 19(5), 922–926 (2003)
Abolmaesumi, P., Salcudean, S.E., Zhu, W.-H., Sirouspour, M., DiMaio, S.: Image-guided control of a robot for medical ultrasound. IEEE Transactions on Robotics and Automation 18, 11–23 (2002)
Hong, J., Dohi, T., Hashizume, M., Konishi, K., Hata, N.: An Ultrasound-driven Needle Insertion Robot for Percutaneous Cholecystostomy. Phys. Med. Biol. 49(3), 441–455 (2004)
Lessard, S., et al.: Parallel Robot for Medical 3D-Ultrasound Imaging. In: IEEE International Symposium on Industrial Electronics (2006)
Sage, H., Mathelin, M., Ostertag, E.: Robust Control or Robot Manipulators: A Survey. International Journal of Control 72(16), 1498–1522 (1999)
Corteso, R., Park, J., Khatib, O.: Real-Time Adaptive Control fo haptic Maniuplation with Active Observers. In: Proceedings of the 2003 IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, Las Vegas, Navada (October 2003)
Corteso, R., Park, J., Khatib, O.: Kalman Techniques for Intelligent Control Systems: Theory and Robotic Experiments. PhD thesis, University of Coimbra (2002)
Khatib, O.: A unified approach for motion and force control of robot manipulators: The operational space formulation. Int. J. on Robotics and Automation 3(1), 43–53 (1987)
Khatib, O., Burdick, J.: Motion and force control of robot manipulators. In: Proceedings of the International Conference on Robotics and Automation, pp. 1381–1386 (1986)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2014 Springer-Verlag GmbH Berlin Heidelberg
About this chapter
Cite this chapter
Conti, F., Park, J., Khatib, O. (2014). Interface Design and Control Strategies for a Robot Assisted Ultrasonic Examination System. In: Khatib, O., Kumar, V., Sukhatme, G. (eds) Experimental Robotics. Springer Tracts in Advanced Robotics, vol 79. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-28572-1_7
Download citation
DOI: https://doi.org/10.1007/978-3-642-28572-1_7
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-28571-4
Online ISBN: 978-3-642-28572-1
eBook Packages: EngineeringEngineering (R0)