Interface Design and Control Strategies for a Robot Assisted Ultrasonic Examination System

Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 79)

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.

References

  1. 1.
    Lawrence, D.: Stability and transparency in bilateral teleoperation. IEEE Trans. on Robotics and Automation 9(5), 624–637 (1993)MathSciNetCrossRefGoogle Scholar
  2. 2.
    Cortesao, R.: Kalman Techniques for Intelligent Control Systems: Theory and Robotics Experiments. PhD Thesis, University of CoimbraGoogle Scholar
  3. 3.
    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)CrossRefGoogle Scholar
  4. 4.
    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)Google Scholar
  5. 5.
    Park, J., Khatib, O.: A Haptic Teleoperation Approach Based on Contact Force Control. In: IJRR (2006)Google Scholar
  6. 6.
    Conti, F., Khatib, O.: Spanning Large Workspaces Using Small Haptic Devices. In: World Haptics , Pisa, Italy (2005)Google Scholar
  7. 7.
    Conti, F., Barbagli, F., Salisbury, K.: The CHAI Libraries. In: Eurohaptics, Dublin, Ireland (June 2003)Google Scholar
  8. 8.
    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)CrossRefGoogle Scholar
  9. 9.
    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)CrossRefGoogle Scholar
  10. 10.
    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)CrossRefGoogle Scholar
  11. 11.
    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)CrossRefGoogle Scholar
  12. 12.
    Lessard, S., et al.: Parallel Robot for Medical 3D-Ultrasound Imaging. In: IEEE International Symposium on Industrial Electronics (2006)Google Scholar
  13. 13.
    Sage, H., Mathelin, M., Ostertag, E.: Robust Control or Robot Manipulators: A Survey. International Journal of Control 72(16), 1498–1522 (1999)MathSciNetMATHCrossRefGoogle Scholar
  14. 14.
    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)Google Scholar
  15. 15.
    Corteso, R., Park, J., Khatib, O.: Kalman Techniques for Intelligent Control Systems: Theory and Robotic Experiments. PhD thesis, University of Coimbra (2002)Google Scholar
  16. 16.
    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)CrossRefGoogle Scholar
  17. 17.
    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)Google Scholar

Copyright information

© Springer-Verlag GmbH Berlin Heidelberg 2014

Authors and Affiliations

  • François Conti
    • 1
  • Jaeheung Park
    • 1
  • Oussama Khatib
    • 1
  1. 1.Artificial Intelligence LaboratoryStanford UniversityStanfordUSA

Personalised recommendations