Advertisement

Robotic-Assisted Ultrasound for Fetal Imaging: Evolution from Single-Arm to Dual-Arm System

  • Shuangyi WangEmail author
  • James Housden
  • Yohan Noh
  • Davinder Singh
  • Anisha Singh
  • Emily Skelton
  • Jacqueline Matthew
  • Cornelius Tan
  • Junghwan Back
  • Lukas Lindenroth
  • Alberto Gomez
  • Nicolas Toussaint
  • Veronika Zimmer
  • Caroline Knight
  • Tara Fletcher
  • David Lloyd
  • John Simpson
  • Dharmintra Pasupathy
  • Hongbin Liu
  • Kaspar Althoefer
  • Joseph Hajnal
  • Reza Razavi
  • Kawal Rhode
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11650)

Abstract

The development of robotic-assisted extracorporeal ultrasound systems has a long history and a number of projects have been proposed since the 1990s focusing on different technical aspects. These aim to resolve the deficiencies of on-site manual manipulation of hand-held ultrasound probes. This paper presents the recent ongoing developments of a series of bespoke robotic systems, including both single-arm and dual-arm versions, for a project known as intelligent Fetal Imaging and Diagnosis (iFIND). After a brief review of the development history of the extracorporeal ultrasound robotic system used for fetal and abdominal examinations, the specific aim of the iFIND robots, the design evolution, the implementation details of each version, and the initial clinical feedback of the iFIND robot series are presented. Based on the preliminary testing of these newly-proposed robots on 42 volunteers, the successful and reliable working of the mechatronic systems were validated. Analysis of a participant questionnaire indicates a comfortable scanning experience for the volunteers and a good acceptance rate to being scanned by the robots.

Notes

Acknowledgements

This work was supported by the Welcome Trust IEH Award [102431] and by the Wellcome/EPSRC Centre for Medical Engineering [WT203148/Z/16/Z]. The authors acknowledge financial support from the Department of Health via the National Institute for Health Research (NIHR) comprehensive Biomedical Research Centre award to Guy’s & St Thomas’ NHS Foundation Trust in partnership with King’s College London and King’s College Hospital NHS Foundation Trust.

References

  1. 1.
    Priester, A.M., Natarajan, S., Culjat, M.O.: Robotic ultrasound systems in medicine. IEEE Trans. Ultrason. Ferroelectr. Freq. Control 60, 507–523 (2013)CrossRefGoogle Scholar
  2. 2.
    Magnavita, N., Bevilacqua, L., Mirk, P., Fileni, A., Castellino, N.: Work-related musculoskeletal complaints in sonologists. J. Occup. Environ. Med. 41, 981–988 (1999)CrossRefGoogle Scholar
  3. 3.
    LaGrone, L.N., Sadasivam, V., Kushner, A.L., Groen, R.S.: A review of training opportunities for ultrasonography in low and middle income countries. Tropical Med. Int. Health 17, 808–819 (2012)CrossRefGoogle Scholar
  4. 4.
    Kilner, H., Wong, M., Walayat, M.: The antenatal detection rate of major congenital heart disease in Scotland. Scott. Med. J. 56, 122–124 (2011)CrossRefGoogle Scholar
  5. 5.
    Quartermain, M.D., et al.: Variation in prenatal diagnosis of congenital heart disease in infants. Pediatrics 136, 3783 (2015)CrossRefGoogle Scholar
  6. 6.
    Vilchis Gonzales, A., et al.: TER: a system for robotic tele-echography. In: Niessen, Wiro J., Viergever, Max A. (eds.) MICCAI 2001. LNCS, vol. 2208, pp. 326–334. Springer, Heidelberg (2001).  https://doi.org/10.1007/3-540-45468-3_39CrossRefGoogle Scholar
  7. 7.
    Vilchis, A., Troccaz, J., Cinquin, P., Masuda, K., Pellissier, F.: A new robot architecture for tele-echography. IEEE Trans. Robot. Autom. 19, 922–926 (2003)CrossRefGoogle Scholar
  8. 8.
    Masuda, K., Kimura, E., Tateishi, N., Ishihara, K.: Three dimensional motion mechanism of ultrasound probe and its application for tele-echography system. In: 2001 Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1112–1116. IEEE (2001)Google Scholar
  9. 9.
    Gourdon, A., Poignet, P., Poisson, G., Vieyres, P., Marche, P.: A new robotic mechanism for medical application. In: 1999 Proceedings of IEEE/ASME International Conference on Advanced Intelligent Mechatronics, pp. 33–38. IEEE (1999)Google Scholar
  10. 10.
    Arbeille, P., Poisson, G., Vieyres, P., Ayoub, J., Porcher, M., Boulay, J.L.: Echographic examination in isolated sites controlled from an expert center using a 2-D echograph guided by a teleoperated robotic arm. Ultrasound Med. Biol. 29, 993–1000 (2003)CrossRefGoogle Scholar
  11. 11.
    Arbeille, P., Ruiz, J., Herve, P., Chevillot, M., Poisson, G., Perrotin, F.: Fetal tele-echography using a robotic arm and a satellite link. Ultrasound Obstet. Gynecol. 26, 221–226 (2005)CrossRefGoogle Scholar
  12. 12.
    Arbeille, P., Capri, A., Ayoub, J., Kieffer, V., Georgescu, M., Poisson, G.: Use of a robotic arm to perform remote abdominal telesonography. Am. J. Roentgenol. 188, W317–W322 (2007)CrossRefGoogle Scholar
  13. 13.
    Courreges, F., Vieyres, P., Istepanian, R.: Advances in robotic tele-echography services-the OTELO system. In: 2004 26th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, IEMBS 2004, pp. 5371–5374. IEEE (2004)Google Scholar
  14. 14.
    Vieyres, P., Poisson, G., Courrèges, F., Smith-Guerin, N., Novales, C., Arbeille, P.: A tele-operated robotic system for mobile tele-echography: The OTELO project. In: Istepanian, R.S.H., Laxminarayan, S., Pattichis, C.S. (eds.) M-Health. Topics in Biomedical Engineering, pp. 461–473. Springer, Boston (2006)CrossRefGoogle Scholar
  15. 15.
    Noh, Y., et al.: Multi-axis force/torque sensor based on simply-supported beam and optoelectronics. Sensors 16, 1936 (2016)CrossRefGoogle Scholar
  16. 16.
    Wang, S., et al.: Design and implementation of a bespoke robotic manipulator for extra-corporeal ultrasound. JoVE 143, e58811 (2019)Google Scholar
  17. 17.

Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Shuangyi Wang
    • 1
    Email author
  • James Housden
    • 1
  • Yohan Noh
    • 1
  • Davinder Singh
    • 2
  • Anisha Singh
    • 2
  • Emily Skelton
    • 3
  • Jacqueline Matthew
    • 3
  • Cornelius Tan
    • 1
  • Junghwan Back
    • 4
  • Lukas Lindenroth
    • 4
  • Alberto Gomez
    • 1
  • Nicolas Toussaint
    • 1
  • Veronika Zimmer
    • 1
  • Caroline Knight
    • 5
  • Tara Fletcher
    • 3
  • David Lloyd
    • 6
  • John Simpson
    • 6
  • Dharmintra Pasupathy
    • 5
  • Hongbin Liu
    • 4
  • Kaspar Althoefer
    • 7
  • Joseph Hajnal
    • 1
  • Reza Razavi
    • 1
  • Kawal Rhode
    • 1
  1. 1.School of Biomedical Engineering & Imaging SciencesKing’s College LondonLondonUK
  2. 2.Xtronics Ltd.GravesendUK
  3. 3.Women’s Ultrasound Guy’s and St Thomas’ NHS Foundation TrustLondonUK
  4. 4.Department of InformaticsKing’s College LondonLondonUK
  5. 5.Division of Women’s Health, Fetal Medicine Unit, Guy’s and St Thomas’ NHS Foundation Trust, Women’s Health Academic CentreKing’s Health PartnersLondonUK
  6. 6.Fetal CardiologyEvelina Children’s HospitalLondonUK
  7. 7.Faculty of Science and EngineeringQueen Mary University of LondonLondonUK

Personalised recommendations