Abstract
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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Acknowledgements
This work was funded by the KCL NIHR Healthcare Technology Centre and KCL-China Scholarship Scheme. This research was also supported by the National Institute for Health Research (NIHR) Biomedical Research Centre at Guy’s and St. Thomas’ NHS Foundation Trust and King’s College London. The views expressed are those of the authors and not necessarily those of the NHS, the NIHR or the Department of Health.
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Wang, S. et al. (2017). Probe Tracking and Its Application in Automatic Acquisition Using a Trans-Esophageal Ultrasound Robot. In: Peters, T., et al. Computer-Assisted and Robotic Endoscopy. CARE 2016. Lecture Notes in Computer Science(), vol 10170. Springer, Cham. https://doi.org/10.1007/978-3-319-54057-3_2
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DOI: https://doi.org/10.1007/978-3-319-54057-3_2
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