1
|
Ernst F, Osburg J, Tüshaus L. SonoBox: development of a robotic ultrasound tomograph for the ultrasound diagnosis of paediatric forearm fractures. Front Robot AI 2024; 11:1405169. [PMID: 39233849 PMCID: PMC11371668 DOI: 10.3389/frobt.2024.1405169] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/22/2024] [Accepted: 07/16/2024] [Indexed: 09/06/2024] Open
Abstract
Introduction Paediatric forearm fractures are a prevalent reason for medical consultation, often requiring diagnostic X-rays that present a risk due to ionising radiation, especially concerning given the sensitivity of children's tissues. This paper explores the efficacy of ultrasound imaging, particularly through the development of the SonoBox system, as a safer, non-ionising alternative. With emerging evidence supporting ultrasound as a viable method for fracture assessment, innovations like SonoBox will become increasingly important. Materials and methods In our project, we want to advance ultrasound-based, contact-free, and automated cross-sectional imaging for diagnosing paediatric forearm fractures. To this end, we are building a technical platform that navigates a commercially available ultrasound probe around the extremity within a water-filled tank, utilising intelligent robot control and image processing methods to generate a comprehensive ultrasound tomogram. Safety and hygiene considerations, gender and diversity relevance, and the potential reduction of radiation exposure and examination pain are pivotal aspects of this endeavour. Results Preliminary experiments have demonstrated the feasibility of rapidly generating ultrasound tomographies in a water bath, overcoming challenges such as water turbulence during probe movement. The SonoBox prototype has shown promising results in transmitting position data for ultrasound imaging, indicating potential for autonomous, accurate, and potentially painless fracture diagnosis. The project outlines further goals, including the construction of prototypes, validation through patient studies, and development of a hygiene concept for clinical application. Conclusion The SonoBox project represents a significant step forward in paediatric fracture diagnostics, offering a safer, more comfortable alternative to traditional X-ray imaging. By automating the imaging process and removing the need for direct contact, SonoBox has the potential to improve clinical efficiency, reduce patient discomfort, and broaden the scope of ultrasound applications. Further research and development will focus on validating its effectiveness in clinical settings and exploring its utility in other medical and veterinary applications.
Collapse
Affiliation(s)
- Floris Ernst
- Institute of Robotics and Cognitive Systems, University of Lübeck, Lübeck, Germany
| | - Jonas Osburg
- Institute of Robotics and Cognitive Systems, University of Lübeck, Lübeck, Germany
| | - Ludger Tüshaus
- Department of Paediatric Surgery, University Hospital Schleswig-Holstein, Lübeck, Germany
| |
Collapse
|
2
|
Amadou AA, Peralta L, Dryburgh P, Klein P, Petkov K, Housden RJ, Singh V, Liao R, Kim YH, Ghesu FC, Mansi T, Rajani R, Young A, Rhode K. Cardiac ultrasound simulation for autonomous ultrasound navigation. Front Cardiovasc Med 2024; 11:1384421. [PMID: 39193499 PMCID: PMC11347295 DOI: 10.3389/fcvm.2024.1384421] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/15/2024] [Accepted: 07/19/2024] [Indexed: 08/29/2024] Open
Abstract
Introduction Ultrasound is well-established as an imaging modality for diagnostic and interventional purposes. However, the image quality varies with operator skills as acquiring and interpreting ultrasound images requires extensive training due to the imaging artefacts, the range of acquisition parameters and the variability of patient anatomies. Automating the image acquisition task could improve acquisition reproducibility and quality but training such an algorithm requires large amounts of navigation data, not saved in routine examinations. Methods We propose a method to generate large amounts of ultrasound images from other modalities and from arbitrary positions, such that this pipeline can later be used by learning algorithms for navigation. We present a novel simulation pipeline which uses segmentations from other modalities, an optimized volumetric data representation and GPU-accelerated Monte Carlo path tracing to generate view-dependent and patient-specific ultrasound images. Results We extensively validate the correctness of our pipeline with a phantom experiment, where structures' sizes, contrast and speckle noise properties are assessed. Furthermore, we demonstrate its usability to train neural networks for navigation in an echocardiography view classification experiment by generating synthetic images from more than 1,000 patients. Networks pre-trained with our simulations achieve significantly superior performance in settings where large real datasets are not available, especially for under-represented classes. Discussion The proposed approach allows for fast and accurate patient-specific ultrasound image generation, and its usability for training networks for navigation-related tasks is demonstrated.
Collapse
Affiliation(s)
- Abdoul Aziz Amadou
- Department of Surgical & Interventional Engineering, King’s College London, School of Biomedical Engineering & Imaging Sciences, London, United Kingdom
- Digital Technology and Innovation, Siemens Healthcare Limited, Camberley, United Kingdom
| | - Laura Peralta
- Department of Surgical & Interventional Engineering, King’s College London, School of Biomedical Engineering & Imaging Sciences, London, United Kingdom
| | - Paul Dryburgh
- Department of Surgical & Interventional Engineering, King’s College London, School of Biomedical Engineering & Imaging Sciences, London, United Kingdom
| | - Paul Klein
- Siemens Healthineers, Digital Technology and Innovation, Princeton, NJ, United States
| | - Kaloian Petkov
- Siemens Healthineers, Digital Technology and Innovation, Princeton, NJ, United States
| | - R. James Housden
- Department of Surgical & Interventional Engineering, King’s College London, School of Biomedical Engineering & Imaging Sciences, London, United Kingdom
| | - Vivek Singh
- Siemens Healthineers, Digital Technology and Innovation, Princeton, NJ, United States
| | - Rui Liao
- Siemens Healthineers, Digital Technology and Innovation, Princeton, NJ, United States
| | - Young-Ho Kim
- Siemens Healthineers, Digital Technology and Innovation, Princeton, NJ, United States
| | - Florin C. Ghesu
- Siemens Healthineers AG, Digital Technology and Innovation, Erlangen, Germany
| | - Tommaso Mansi
- Siemens Healthineers, Digital Technology and Innovation, Princeton, NJ, United States
| | - Ronak Rajani
- Department of Surgical & Interventional Engineering, King’s College London, School of Biomedical Engineering & Imaging Sciences, London, United Kingdom
| | - Alistair Young
- Department of Surgical & Interventional Engineering, King’s College London, School of Biomedical Engineering & Imaging Sciences, London, United Kingdom
| | - Kawal Rhode
- Department of Surgical & Interventional Engineering, King’s College London, School of Biomedical Engineering & Imaging Sciences, London, United Kingdom
| |
Collapse
|
3
|
Osburg J, Scheibert A, Horn M, Pater R, Ernst F. Automatic robotic doppler sonography of leg arteries. Int J Comput Assist Radiol Surg 2024:10.1007/s11548-024-03235-7. [PMID: 39052197 DOI: 10.1007/s11548-024-03235-7] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/10/2024] [Accepted: 07/04/2024] [Indexed: 07/27/2024]
Abstract
PURPOSE Robot-assisted systems offer an opportunity to support the diagnostic and therapeutic treatment of vascular diseases to reduce radiation exposure and support the limited medical staff in vascular medicine. In the diagnosis and follow-up care of vascular pathologies, Doppler ultrasound has become the preferred diagnostic tool. The study presents a robotic system for automatic Doppler ultrasound examinations of patients' leg vessels. METHODS The robotic system consists of a redundant 7 DoF serial manipulator, to which a 3D ultrasound probe is attached. A compliant control was employed, whereby the transducer was guided along the vessel with a defined contact force. Visual servoing was used to correct the position of the probe during the scan so that the vessel can always be properly visualized. To track the vessel's position, methods based on template matching and Doppler sonography were used. RESULTS Our system was able to successfully scan the femoral artery of seven volunteers automatically for a distance of 20 cm. In particular, our approach using Doppler ultrasound data showed high robustness and an accuracy of 10.7 (±3.1) px in determining the vessel's position and thus outperformed our template matching approach, whereby an accuracy of 13.9 (±6.4) px was achieved. CONCLUSIONS The developed system enables automated robotic ultrasound examinations of vessels and thus represents an opportunity to reduce radiation exposure and staff workload. The integration of Doppler ultrasound improves the accuracy and robustness of vessel tracking, and could thus contribute to the realization of routine robotic vascular examinations and potential endovascular interventions.
Collapse
Affiliation(s)
- Jonas Osburg
- Institute for Robotics and Cognitive Systems, University of Luebeck, Ratzeburger Allee 160, Luebeck, 23562, Germany.
| | - Alexandra Scheibert
- Clinic for Surgery, Division for Vascular and Endovascular Surgery, University Clinic Schleswig-Holstein Campus Luebeck, Ratzeburger Allee 160, 23538, Luebeck, Germany
| | - Marco Horn
- Clinic for Surgery, Division for Vascular and Endovascular Surgery, University Clinic Schleswig-Holstein Campus Luebeck, Ratzeburger Allee 160, 23538, Luebeck, Germany
| | - Ravn Pater
- Clinic for Surgery, Division for Vascular and Endovascular Surgery, University Clinic Schleswig-Holstein Campus Luebeck, Ratzeburger Allee 160, 23538, Luebeck, Germany
| | - Floris Ernst
- Institute for Robotics and Cognitive Systems, University of Luebeck, Ratzeburger Allee 160, Luebeck, 23562, Germany
| |
Collapse
|
4
|
Xu H, Yang JY, Zhao X, Ma Z. Advances in clinical research on ultrasound-guided radiofrequency ablation for papillary thyroid microcarcinoma. Front Oncol 2024; 14:1422634. [PMID: 39040438 PMCID: PMC11260605 DOI: 10.3389/fonc.2024.1422634] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/24/2024] [Accepted: 06/18/2024] [Indexed: 07/24/2024] Open
Abstract
Ultrasound-guided radiofrequency ablation (RFA) emerges as a minimally invasive strategy for papillary thyroid microcarcinoma (PTMC), offering advantages over traditional surgical approaches. RFA employs high-frequency electric currents under precise ultrasound guidance to ablate cancerous tissue. Clinical trials consistently demonstrate RFA's efficacy in tumor control and patient-reported outcomes. However, long-term studies are essential to validate its durability and monitor for potential complications. Collaborative efforts among various medical disciplines ensure procedural accuracy and comprehensive postoperative care. Technological innovations, such as enhanced ultrasound imaging and temperature control, promise to refine RFA's precision and effectiveness. Nevertheless, challenges persist, including the need for standardized protocols and comparative studies with traditional treatments. Future research should focus on long-term outcomes, patient selection criteria, and optimization of procedural techniques to solidify RFA's role in PTMC management. RFA presents a promising avenue for PTMC treatment, warranting further investigation and refinement in clinical practice.
Collapse
Affiliation(s)
- Hua Xu
- Department of Ultrasound, Shaanxi Provincial Hospital of Traditional Chinese Medicine, Xi’an, China
| | - Jin-yan Yang
- Department of Ultrasound, Shaanxi Provincial Hospital of Traditional Chinese Medicine, Xi’an, China
| | - Xing Zhao
- Department of Medical Technology, Shaanxi Energy Institute, Xianyang, China
| | - Zhe Ma
- Department of Ultrasound, Shaanxi Provincial Hospital of Traditional Chinese Medicine, Xi’an, China
| |
Collapse
|
5
|
Tang X, Wang H, Luo J, Jiang J, Nian F, Qi L, Sang L, Gan Z. Autonomous ultrasound scanning robotic system based on human posture recognition and image servo control: an application for cardiac imaging. Front Robot AI 2024; 11:1383732. [PMID: 38774468 PMCID: PMC11106497 DOI: 10.3389/frobt.2024.1383732] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/07/2024] [Accepted: 04/12/2024] [Indexed: 05/24/2024] Open
Abstract
In traditional cardiac ultrasound diagnostics, the process of planning scanning paths and adjusting the ultrasound window relies solely on the experience and intuition of the physician, a method that not only affects the efficiency and quality of cardiac imaging but also increases the workload for physicians. To overcome these challenges, this study introduces a robotic system designed for autonomous cardiac ultrasound scanning, with the goal of advancing both the degree of automation and the quality of imaging in cardiac ultrasound examinations. The system achieves autonomous functionality through two key stages: initially, in the autonomous path planning stage, it utilizes a camera posture adjustment method based on the human body's central region and its planar normal vectors to achieve automatic adjustment of the camera's positioning angle; precise segmentation of the human body point cloud is accomplished through efficient point cloud processing techniques, and precise localization of the region of interest (ROI) based on keypoints of the human body. Furthermore, by applying isometric path slicing and B-spline curve fitting techniques, it independently plans the scanning path and the initial position of the probe. Subsequently, in the autonomous scanning stage, an innovative servo control strategy based on cardiac image edge correction is introduced to optimize the quality of the cardiac ultrasound window, integrating position compensation through admittance control to enhance the stability of autonomous cardiac ultrasound imaging, thereby obtaining a detailed view of the heart's structure and function. A series of experimental validations on human and cardiac models have assessed the system's effectiveness and precision in the correction of camera pose, planning of scanning paths, and control of cardiac ultrasound imaging quality, demonstrating its significant potential for clinical ultrasound scanning applications.
Collapse
Affiliation(s)
- Xiuhong Tang
- Academy for Engineering and Technology, Fudan University, Shanghai, China
| | - Hongbo Wang
- Academy for Engineering and Technology, Fudan University, Shanghai, China
| | - Jingjing Luo
- Academy for Engineering and Technology, Fudan University, Shanghai, China
| | - Jinlei Jiang
- Intelligent Robot Engineering Research Center of Ministry of Education, Shanghai, China
| | - Fan Nian
- Intelligent Robot Engineering Research Center of Ministry of Education, Shanghai, China
| | - Lizhe Qi
- Academy for Engineering and Technology, Fudan University, Shanghai, China
| | - Lingfeng Sang
- Institute of Intelligent Medical Care Technology, Ningbo, China
| | - Zhongxue Gan
- Academy for Engineering and Technology, Fudan University, Shanghai, China
| |
Collapse
|
6
|
Liang WH, Chan SC, Lee HH, Hung SC, Lin CC, Chen CJ, Chen MJ, Lai JH. Feasibility and Safety of 5G-Based Telerobotic Abdominal Ultrasonography. JOURNAL OF ULTRASOUND IN MEDICINE : OFFICIAL JOURNAL OF THE AMERICAN INSTITUTE OF ULTRASOUND IN MEDICINE 2024; 43:355-360. [PMID: 37916293 DOI: 10.1002/jum.16368] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 10/15/2023] [Accepted: 10/18/2023] [Indexed: 11/03/2023]
Abstract
OBJECTIVE Telemedicine can offer services to remote patients regardless of the distance. Fifth-generation (5G) mobile networks may make telemedicine practical because of their low latency. This study aimed to evaluate the feasibility and safety of a novel 5G robot-assisted remote abdominal ultrasound (AUS) telemedicine technology in clinical applications in distant locations. METHODS We performed 5G-based telerobotic AUS in patients who were located more than 100 km away from the physicians. RESULTS The telerobotic AUS had a longer examination time than the conditional bedside AUS; however, the complete examination rate was not inferior. None of the volunteers experienced discomfort during the examination and the examination time was acceptable for all. CONCLUSION Our findings confirm the feasibility and safety of 5G-based telerobotic AUS in clinical practice.
Collapse
Affiliation(s)
- Wei-Hsin Liang
- Division of Gastroenterology, Department of Internal Medicine, Mackay Memorial Hospital, Taipei, Taiwan
| | - Sean-Chen Chan
- Division of Gastroenterology, Department of Internal Medicine, Mackay Memorial Hospital, Taipei, Taiwan
| | - Ho-Hsin Lee
- Service Systems Technology Center, Industrial Technology Research Institute, Hsinchu City, Taiwan
| | - Shang-Chih Hung
- Service Systems Technology Center, Industrial Technology Research Institute, Hsinchu City, Taiwan
| | - Ching-Chung Lin
- Division of Gastroenterology, Department of Internal Medicine, Mackay Memorial Hospital, Taipei, Taiwan
- Mackay Medical College, New Taipei, Taiwan
| | - Chih-Jen Chen
- Division of Gastroenterology, Department of Internal Medicine, Mackay Memorial Hospital, Taipei, Taiwan
| | - Ming-Jen Chen
- Division of Gastroenterology, Department of Internal Medicine, Mackay Memorial Hospital, Taipei, Taiwan
- Mackay Medical College, New Taipei, Taiwan
| | - Jian-Han Lai
- Division of Gastroenterology, Department of Internal Medicine, Mackay Memorial Hospital, Taipei, Taiwan
- Mackay Medical College, New Taipei, Taiwan
| |
Collapse
|
7
|
Picano E, Pierard L, Peteiro J, Djordjevic-Dikic A, Sade LE, Cortigiani L, Van De Heyning CM, Celutkiene J, Gaibazzi N, Ciampi Q, Senior R, Neskovic AN, Henein M. The clinical use of stress echocardiography in chronic coronary syndromes and beyond coronary artery disease: a clinical consensus statement from the European Association of Cardiovascular Imaging of the ESC. Eur Heart J Cardiovasc Imaging 2024; 25:e65-e90. [PMID: 37798126 DOI: 10.1093/ehjci/jead250] [Citation(s) in RCA: 8] [Impact Index Per Article: 8.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Submit a Manuscript] [Subscribe] [Scholar Register] [Received: 09/28/2023] [Accepted: 09/29/2023] [Indexed: 10/07/2023] Open
Abstract
Since the 2009 publication of the stress echocardiography expert consensus of the European Association of Echocardiography, and after the 2016 advice of the American Society of Echocardiography-European Association of Cardiovascular Imaging for applications beyond coronary artery disease, new information has become available regarding stress echo. Until recently, the assessment of regional wall motion abnormality was the only universally practiced step of stress echo. In the state-of-the-art ABCDE protocol, regional wall motion abnormality remains the main step A, but at the same time, regional perfusion using ultrasound-contrast agents may be assessed. Diastolic function and pulmonary B-lines are assessed in step B; left ventricular contractile and preload reserve with volumetric echocardiography in step C; Doppler-based coronary flow velocity reserve in the left anterior descending coronary artery in step D; and ECG-based heart rate reserve in non-imaging step E. These five biomarkers converge, conceptually and methodologically, in the ABCDE protocol allowing comprehensive risk stratification of the vulnerable patient with chronic coronary syndromes. The present document summarizes current practice guidelines recommendations and training requirements and harmonizes the clinical guidelines of the European Society of Cardiology in many diverse cardiac conditions, from chronic coronary syndromes to valvular heart disease. The continuous refinement of imaging technology and the diffusion of ultrasound-contrast agents improve image quality, feasibility, and reader accuracy in assessing wall motion and perfusion, left ventricular volumes, and coronary flow velocity. Carotid imaging detects pre-obstructive atherosclerosis and improves risk prediction similarly to coronary atherosclerosis. The revolutionary impact of artificial intelligence on echocardiographic image acquisition and analysis makes stress echo more operator-independent and objective. Stress echo has unique features of low cost, versatility, and universal availability. It does not need ionizing radiation exposure and has near-zero carbon dioxide emissions. Stress echo is a convenient and sustainable choice for functional testing within and beyond coronary artery disease.
Collapse
Affiliation(s)
- Eugenio Picano
- Institute of Clinical Physiology of the National Research Council, CNR, Via Moruzzi 1, 56124 Pisa, Italy
| | - Luc Pierard
- University of Liège, Walloon Region, Belgium
| | - Jesus Peteiro
- CHUAC-Complexo Hospitalario Universitario A Coruna, CIBER-CV, University of A Coruna, 15070 La Coruna, Spain
| | - Ana Djordjevic-Dikic
- Cardiology Clinic, University Clinical Centre of Serbia, Medical School, University of Belgrade, 11000 Belgrade, Serbia
| | - Leyla Elif Sade
- University of Pittsburgh Medical Center UPMC Heart & Vascular Institute, Pittsburgh, PA, USA
| | | | | | - Jelena Celutkiene
- Centre of Cardiology and Angiology, Clinic of Cardiac and Vascular Diseases, Faculty of Medicine, Institute of Clinical Medicine, Vilnius University, LT-03101 Vilnius, Lithuania
| | - Nicola Gaibazzi
- Cardiology Department, Parma University Hospital, 43100 Parma, Italy
| | - Quirino Ciampi
- Cardiology Division, Fatebenefratelli Hospital, 82100 Benevento, Italy
| | - Roxy Senior
- Imperial College, UK
- Royal Brompton Hospital Imperial College London, UK
- Northwick Park Hospital, London, UK
| | - Aleksandar N Neskovic
- Department of Cardiology, University Clinical Hospital Center Zemun-Belgrade Faculty of Medicine, University of Belgrade, Serbia
| | - Michael Henein
- Department of Public Health and Clinical Medicine Units: Section of Medicine, Umea University, Umea, Sweden
| |
Collapse
|
8
|
Song L, Li Q, Sai Z, Sun K, Chen W, Zhang H, Wang Y, Jiao Z, Ni X. A Multimodal Point Cloud-Based Method for Tumor Localization in Robotic Ultrasound-Guided Radiotherapy. Technol Cancer Res Treat 2024; 23:15330338241273149. [PMID: 39155658 DOI: 10.1177/15330338241273149] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 08/20/2024] Open
Abstract
Objectives: Part of the tumor localization methods in radiotherapy have poor real-time performance and may generate additional radiation. We propose a multimodal point cloud-based method for tumor localization in robotic ultrasound-guided radiotherapy, which only irradiates computed tomography (CT) during radiotherapy planning to avoid additional radiation. Methods: The tumor position was determined using the CT point cloud, and the red green blue depth (RGBD) point cloud was used to determine body surface scanning location corresponding to the tumor location. The relationship between the CT point cloud and RGBD point cloud was established through multi-modal point cloud registration. The point cloud was then used for robot tumor localization through coordinate transformation between camera and robot. Results: The maximum mean absolute error of the tumor location in the X, Y, and Z directions of the robot coordinate system were 0.781, 1.334, and 1.490 mm, respectively. The average point-to-point translation mean absolute error between the actual and predicted positions of the localization points was 1.847 mm. The maximum error in the random positioning experiment was 1.77 mm. Conclusion: The proposed method is radiation free and has real-time performance, with tumor localization accuracy that meets the requirements of radiotherapy. The proposed method, which potentially reduces the risks associated with radiation exposure while ensuring efficient and accurate tumor localization, represents a promising advancement in the field of radiotherapy.
Collapse
Affiliation(s)
- Lintao Song
- Department of Radiotherapy, The Affiliated Changzhou NO.2 People's Hospital of Nanjing Medical University, Changzhou, China
- Jiangsu Province Engineering Research Center of Medical Physics, Changzhou, China
- Center for Medical Physics, Nanjing Medical University, Changzhou, China
| | - Qixuan Li
- Department of Radiotherapy, The Affiliated Changzhou NO.2 People's Hospital of Nanjing Medical University, Changzhou, China
- Jiangsu Province Engineering Research Center of Medical Physics, Changzhou, China
- Center for Medical Physics, Nanjing Medical University, Changzhou, China
- School of Microelectronics and Control Engineering, Changzhou University, Changzhou, China
| | - Zhang Sai
- Department of Radiotherapy, The Affiliated Changzhou NO.2 People's Hospital of Nanjing Medical University, Changzhou, China
- Jiangsu Province Engineering Research Center of Medical Physics, Changzhou, China
- Center for Medical Physics, Nanjing Medical University, Changzhou, China
| | - Kangkang Sun
- Department of Radiotherapy, The Affiliated Changzhou NO.2 People's Hospital of Nanjing Medical University, Changzhou, China
- Jiangsu Province Engineering Research Center of Medical Physics, Changzhou, China
- Center for Medical Physics, Nanjing Medical University, Changzhou, China
- School of Computer and Artificial Intelligence, Changzhou University, Changzhou, China
| | - Wei Chen
- Department of Radiotherapy, The Affiliated Changzhou NO.2 People's Hospital of Nanjing Medical University, Changzhou, China
- Jiangsu Province Engineering Research Center of Medical Physics, Changzhou, China
- Center for Medical Physics, Nanjing Medical University, Changzhou, China
- School of Computer and Artificial Intelligence, Changzhou University, Changzhou, China
| | - Heng Zhang
- Department of Radiotherapy, The Affiliated Changzhou NO.2 People's Hospital of Nanjing Medical University, Changzhou, China
- Jiangsu Province Engineering Research Center of Medical Physics, Changzhou, China
- Center for Medical Physics, Nanjing Medical University, Changzhou, China
| | - Yibo Wang
- Department of Radiotherapy, The Affiliated Changzhou NO.2 People's Hospital of Nanjing Medical University, Changzhou, China
- Jiangsu Province Engineering Research Center of Medical Physics, Changzhou, China
- Center for Medical Physics, Nanjing Medical University, Changzhou, China
| | - Zhuqing Jiao
- School of Microelectronics and Control Engineering, Changzhou University, Changzhou, China
- School of Computer and Artificial Intelligence, Changzhou University, Changzhou, China
| | - Xinye Ni
- Department of Radiotherapy, The Affiliated Changzhou NO.2 People's Hospital of Nanjing Medical University, Changzhou, China
- Jiangsu Province Engineering Research Center of Medical Physics, Changzhou, China
- Center for Medical Physics, Nanjing Medical University, Changzhou, China
| |
Collapse
|
9
|
Gao X, Lv Q, Hou S. Progress in the Application of Portable Ultrasound Combined with Artificial Intelligence in Pre-Hospital Emergency and Disaster Sites. Diagnostics (Basel) 2023; 13:3388. [PMID: 37958284 PMCID: PMC10649742 DOI: 10.3390/diagnostics13213388] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/27/2023] [Revised: 10/30/2023] [Accepted: 11/02/2023] [Indexed: 11/15/2023] Open
Abstract
With the miniaturization of ultrasound and the development of artificial intelligence, its application in disaster scenes and pre-hospital emergency care has become more and more common. This study summarizes the literature on portable ultrasound in pre-hospital emergency and disaster scene treatment in the past decade and reviews the development and application of portable ultrasound. Portable ultrasound diagnostic equipment can be used to diagnose abdominal bleeding, limb fracture, hemopneumothorax, pericardial effusion, etc., based on which trauma can be diagnosed pre-hospital and provide guiding suggestions for the next triage and rescue; in early rescue, portable ultrasound can guide emergency operations, such as tracheal intubation, pericardial cavity puncture, and thoracic and abdominal puncture as well as improve the accuracy and timeliness of operation techniques. In addition, with the development of artificial intelligence (AI), AI-assisted diagnosis can improve the diagnosis level of ultrasound at disaster sites. The portable ultrasound diagnosis system equipped with an AI robotic arm can maximize the pre-screening classification and fast and concise diagnosis and treatment of batch casualties, thus providing a reliable basis for batch casualty classification and evacuation at disaster accident sites.
Collapse
Affiliation(s)
- Xing Gao
- Tianjin University Tianjin Hospital, Tianjin 300211, China;
- Institution of Disaster and Emergency Medicine, Tianjin University, Tianjin 300072, China
- Key Laboratory of Medical Rescue Key Technology and Equipment, Ministry of Emergency Management, Tianjin 300072, China
| | - Qi Lv
- Institution of Disaster and Emergency Medicine, Tianjin University, Tianjin 300072, China
- Key Laboratory of Medical Rescue Key Technology and Equipment, Ministry of Emergency Management, Tianjin 300072, China
| | - Shike Hou
- Institution of Disaster and Emergency Medicine, Tianjin University, Tianjin 300072, China
- Key Laboratory of Medical Rescue Key Technology and Equipment, Ministry of Emergency Management, Tianjin 300072, China
| |
Collapse
|
10
|
Kumar A, Kempski Leadingham KM, Kerensky MJ, Sankar S, Thakor NV, Manbachi A. Visualizing tactile feedback: an overview of current technologies with a focus on ultrasound elastography. FRONTIERS IN MEDICAL TECHNOLOGY 2023; 5:1238129. [PMID: 37854637 PMCID: PMC10579802 DOI: 10.3389/fmedt.2023.1238129] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/10/2023] [Accepted: 09/14/2023] [Indexed: 10/20/2023] Open
Abstract
Tissue elasticity remains an essential biomarker of health and is indicative of irregularities such as tumors or infection. The timely detection of such abnormalities is crucial for the prevention of disease progression and complications that arise from late-stage illnesses. However, at both the bedside and the operating table, there is a distinct lack of tactile feedback for deep-seated tissue. As surgical techniques advance toward remote or minimally invasive options to reduce infection risk and hasten healing time, surgeons lose the ability to manually palpate tissue. Furthermore, palpation of deep structures results in decreased accuracy, with the additional barrier of needing years of experience for adequate confidence of diagnoses. This review delves into the current modalities used to fulfill the clinical need of quantifying physical touch. It covers research efforts involving tactile sensing for remote or minimally invasive surgeries, as well as the potential of ultrasound elastography to further this field with non-invasive real-time imaging of the organ's biomechanical properties. Elastography monitors tissue response to acoustic or mechanical energy and reconstructs an image representative of the elastic profile in the region of interest. This intuitive visualization of tissue elasticity surpasses the tactile information provided by sensors currently used to augment or supplement manual palpation. Focusing on common ultrasound elastography modalities, we evaluate various sensing mechanisms used for measuring tactile information and describe their emerging use in clinical settings where palpation is insufficient or restricted. With the ongoing advancements in ultrasound technology, particularly the emergence of micromachined ultrasound transducers, these devices hold great potential in facilitating early detection of tissue abnormalities and providing an objective measure of patient health.
Collapse
Affiliation(s)
- Avisha Kumar
- Department of Electrical and Computer Engineering, Johns Hopkins University, Baltimore, MD, United States
- HEPIUS Innovation Lab, Johns Hopkins University School of Medicine, Baltimore, MD, United States
| | - Kelley M. Kempski Leadingham
- HEPIUS Innovation Lab, Johns Hopkins University School of Medicine, Baltimore, MD, United States
- Department of Neurosurgery, Johns Hopkins University School of Medicine, Baltimore, MD, United States
| | - Max J. Kerensky
- Department of Electrical and Computer Engineering, Johns Hopkins University, Baltimore, MD, United States
- HEPIUS Innovation Lab, Johns Hopkins University School of Medicine, Baltimore, MD, United States
| | - Sriramana Sankar
- Department of Biomedical Engineering, Johns Hopkins University School of Medicine, Baltimore, MD, United States
| | - Nitish V. Thakor
- Department of Electrical and Computer Engineering, Johns Hopkins University, Baltimore, MD, United States
- Department of Biomedical Engineering, Johns Hopkins University School of Medicine, Baltimore, MD, United States
| | - Amir Manbachi
- Department of Electrical and Computer Engineering, Johns Hopkins University, Baltimore, MD, United States
- HEPIUS Innovation Lab, Johns Hopkins University School of Medicine, Baltimore, MD, United States
- Department of Neurosurgery, Johns Hopkins University School of Medicine, Baltimore, MD, United States
- Department of Biomedical Engineering, Johns Hopkins University School of Medicine, Baltimore, MD, United States
- Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, United States
- Department of Anesthesiology and Critical Care Medicine, Johns Hopkins University School of Medicine, Baltimore, MD, United States
| |
Collapse
|
11
|
Bekedam NM, Karssemakers LHE, van Alphen MJA, van Veen RLP, Smeele LE, Karakullukcu MB. Comparison of image quality of 3D ultrasound: motorized acquisition versus freehand navigated acquisition, a phantom study. Int J Comput Assist Radiol Surg 2023; 18:1649-1663. [PMID: 37243918 PMCID: PMC10491552 DOI: 10.1007/s11548-023-02934-x] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/15/2022] [Accepted: 04/21/2023] [Indexed: 05/29/2023]
Abstract
PURPOSE Intra-operative assessment of resection margins during oncological surgery is a field that needs improvement. Ultrasound (US) shows the potential to fulfill this need, but this imaging technique is highly operator-dependent. A 3D US image of the whole specimen may remedy the operator dependence. This study aims to compare and evaluate the image quality of 3D US between freehand acquisition (FA) and motorized acquisition (MA). METHODS Multiple 3D US volumes of a commercial phantom were acquired in motorized and freehand fashion. FA images were collected with electromagnetic navigation. An integrated algorithm reconstructed the FA images. MA images were stacked into a 3D volume. The image quality is evaluated following the metrics: contrast resolution, axial and elevation resolution, axial and elevation distance calibration, stability, inter-operator variability, and intra-operator variability. A linear mixed model determined statistical differences between FA and MA for these metrics. RESULTS The MA results in a statistically significant lower error of axial distance calibration (p < 0.0001) and higher stability (p < 0.0001) than FA. On the other hand, the FA has a better elevation resolution (p < 0.003) than the MA. CONCLUSION MA results in better image quality of 3D US than the FA method based on axial distance calibration, stability, and variability. This study suggests acquiring 3D US volumes for intra-operative ex vivo margin assessment in a motorized fashion.
Collapse
Affiliation(s)
- N M Bekedam
- Department of Head and Neck Surgery and Oncology, Netherlands Cancer Institute, Antoni van Leeuwenhoek, Plesmanlaan 121, 1066 CX, Amsterdam, The Netherlands.
- Academic Centre of Dentistry Amsterdam, Vrije Universiteit, Gustav Mahlerlaan 3004, 1081 LA, Amsterdam, The Netherlands.
| | - L H E Karssemakers
- Department of Head and Neck Surgery and Oncology, Netherlands Cancer Institute, Antoni van Leeuwenhoek, Plesmanlaan 121, 1066 CX, Amsterdam, The Netherlands
| | - M J A van Alphen
- Department of Head and Neck Surgery and Oncology, Verwelius 3D Lab, Netherlands Cancer Institute, Antoni van Leeuwenhoek, Amsterdam, The Netherlands
| | - R L P van Veen
- Department of Head and Neck Surgery and Oncology, Verwelius 3D Lab, Netherlands Cancer Institute, Antoni van Leeuwenhoek, Amsterdam, The Netherlands
| | - L E Smeele
- Department of Head and Neck Surgery and Oncology, Netherlands Cancer Institute, Antoni van Leeuwenhoek, Plesmanlaan 121, 1066 CX, Amsterdam, The Netherlands
| | - M B Karakullukcu
- Department of Head and Neck Surgery and Oncology, Netherlands Cancer Institute, Antoni van Leeuwenhoek, Plesmanlaan 121, 1066 CX, Amsterdam, The Netherlands
| |
Collapse
|
12
|
Li R, Davoodi A, Cai Y, Niu K, Borghesan G, Cavalcanti N, Massalimova A, Carrillo F, Laux CJ, Farshad M, Fürnstahl P, Poorten EV. Robot-assisted ultrasound reconstruction for spine surgery: from bench-top to pre-clinical study. Int J Comput Assist Radiol Surg 2023; 18:1613-1623. [PMID: 37171662 DOI: 10.1007/s11548-023-02932-z] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/09/2023] [Accepted: 04/19/2023] [Indexed: 05/13/2023]
Abstract
PURPOSE Robot-assisted ultrasound (rUS) systems have already been used to provide non-radiative three-dimensional (3D) reconstructions that form the basis for guiding spine surgical procedures. Despite promising studies on this technology, there are few studies that offer insight into the robustness and generality of the approach by verifying performance in various testing scenarios. Therefore, this study aims at providing an assessment of a rUS system, with technical details from experiments starting at the bench-top to the pre-clinical study. METHODS A semi-automatic control strategy was proposed to ensure continuous and smooth robotic scanning. Next, a U-Net-based segmentation approach was developed to automatically process the anatomic features and derive a high-quality 3D US reconstruction. Experiments were conducted on synthetic phantoms and human cadavers to validate the proposed approach. RESULTS Average deviations of scanning force were found to be 2.84±0.45 N on synthetic phantoms and to be 5.64±1.10 N on human cadavers. The anatomic features could be reliably reconstructed at mean accuracy of 1.28±0.87 mm for the synthetic phantoms and of 1.74±0.89 mm for the human cadavers. CONCLUSION The results and experiments demonstrate the feasibility of the proposed system in a pre-clinical setting. This work is complementary to previous work, encouraging further exploration of the potential of this technology in in vivo studies.
Collapse
Affiliation(s)
- Ruixuan Li
- Robot-Assisted Surgery group, Department of Mechanical Engineering, KU Leuven, Leuven, Belgium.
| | - Ayoob Davoodi
- Robot-Assisted Surgery group, Department of Mechanical Engineering, KU Leuven, Leuven, Belgium
| | - Yuyu Cai
- Robot-Assisted Surgery group, Department of Mechanical Engineering, KU Leuven, Leuven, Belgium
| | - Kenan Niu
- Robotics and Mechatronics, University of Twente, Enschede, The Netherlands
| | - Gianni Borghesan
- Robot-Assisted Surgery group, Department of Mechanical Engineering, KU Leuven, Leuven, Belgium
- Core Lab ROB, Flanders Make, Leuven, Belgium
| | - Nicola Cavalcanti
- Research in Orthopedic Computer Science, University Hospital Balgrist, University of Zurich, Zurich, Switzerland
| | - Aidana Massalimova
- Research in Orthopedic Computer Science, University Hospital Balgrist, University of Zurich, Zurich, Switzerland
| | - Fabio Carrillo
- Research in Orthopedic Computer Science, University Hospital Balgrist, University of Zurich, Zurich, Switzerland
| | - Christoph J Laux
- University Spine Center Zurich, University Hospital Balgrist, University of Zurich, Zurich, Switzerland
| | - Mazda Farshad
- University Spine Center Zurich, University Hospital Balgrist, University of Zurich, Zurich, Switzerland
| | - Philipp Fürnstahl
- Research in Orthopedic Computer Science, University Hospital Balgrist, University of Zurich, Zurich, Switzerland
| | - Emmanuel Vander Poorten
- Robot-Assisted Surgery group, Department of Mechanical Engineering, KU Leuven, Leuven, Belgium
| |
Collapse
|
13
|
Tan J, Li B, Leng Y, Li Y, Peng J, Wu J, Luo B, Chen X, Rong Y, Fu C. Fully Automatic Dual-Probe Lung Ultrasound Scanning Robot for Screening Triage. IEEE TRANSACTIONS ON ULTRASONICS, FERROELECTRICS, AND FREQUENCY CONTROL 2023; 70:975-988. [PMID: 36191095 DOI: 10.1109/tuffc.2022.3211532] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/16/2023]
Abstract
Two-dimensional lung ultrasound (LUS) has widely emerged as a rapid and noninvasive imaging tool for the detection and diagnosis of coronavirus disease 2019 (COVID-19). However, image differences will be magnified due to changes in ultrasound (US) imaging experience, such as US probe attitude control and force control, which will directly affect the diagnosis results. In addition, the risk of virus transmission between sonographer and patients is increased due to frequent physical contact. In this study, a fully automatic dual-probe US scanning robot for the acquisition of LUS images is proposed and developed. Furthermore, the trajectory was optimized based on the velocity look-ahead strategy, the stability of contact force of the system and the scanning efficiency were improved by 24.13% and 29.46%, respectively. Also, the control ability of the contact force of robotic automatic scanning was 34.14 times higher than that of traditional manual scanning, which significantly improves the smoothness of scanning. Importantly, there was no significant difference in image quality obtained by robotic automatic scanning and manual scanning. Furthermore, the scanning time for a single person is less than 4 min, which greatly improves the efficiency of screening triage of group COVID-19 diagnosis and suspected patients and reduces the risk of virus exposure and spread.
Collapse
|
14
|
Park S, Kim Y, Nam D, Lee J, Song SH. Superficial venous morphometry in the antecubital fossa: An autonomous robotic ultrasound-based analysis. J Vasc Access 2023:11297298231186651. [PMID: 37448206 DOI: 10.1177/11297298231186651] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 07/15/2023] Open
Abstract
BACKGROUND The antecubital fossa is an important site for venepuncture and intravenous procedures. The size and location of a vein can affect the success of venepuncture and intravenous access. Several studies have investigated the superficial vein morphometry, but they had small sample sizes or focused on specific populations or groups. Therefore, we conducted a prospective study with large participants in general population to analyse the morphology of the antecubital superficial vein and identify the association of sex, age and body mass index (BMI) with the size and location of the vein. METHODS This study collected images of superficial veins prospectively using autonomous robotic ultrasound on the antecubital area between October and November 2020. We measured the superficial vein depth, vertical diameter and horizontal diameter at the antecubital area, extracted population characteristics (sex, age and BMI), and analysed a relationship between the vein dimensions and the characteristics. RESULTS In this study, data from 461 participants (201 males and 260 females) with mean age of 41.1 years were produced. The mean vein depth, mean vertical diameter and mean horizontal diameter (±standard deviation) were 4.81 (±2.17), 3.01 (±1.10) and 4.46 (±1.60) mm, respectively. We found significant differences in vein dimensions between males and females, with males having larger vertical and horizontal diameters than females (p < 0.001). The study also revealed significant differences in vein depth and dimensions among age groups and BMI subgroups (p < 0.001). CONCLUSIONS These findings revealed that the superficial vein in the antecubital area was oval, with a larger horizontal diameter than vertical diameter. Morphometry revealed differences in sex, age and BMI. Understanding variations in vein dimensions among different subgroups can help medical professionals improve success rate of venous access and patient safety.
Collapse
Affiliation(s)
| | | | | | - Jooran Lee
- Division of Life Science and Department of Chemical and Biological Engineering, The Hong Kong University of Science of Technology, Hong Kong SAR, China
| | - Sang Hoon Song
- Department of Laboratory Medicine, Seoul National University Hospital and College of Medicine, Seoul, Republic of Korea
| |
Collapse
|
15
|
Tsumura R, Umezawa A, Morishima Y, Iwata H, Yoshinaka K. Suppression of Clothing-Induced Acoustic Attenuation in Robotic Auscultation. SENSORS (BASEL, SWITZERLAND) 2023; 23:2260. [PMID: 36850859 PMCID: PMC9959155 DOI: 10.3390/s23042260] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 01/26/2023] [Revised: 02/11/2023] [Accepted: 02/14/2023] [Indexed: 06/18/2023]
Abstract
For patients who are often embarrassed and uncomfortable when exposing their breasts and having them touched by physicians of different genders during auscultation, we are developing a robotic system that performs auscultation over clothing. As the technical issue, the sound obtained through the clothing is often attenuated. This study aims to investigate clothing-induced acoustic attenuation and develop a suppression method for it. Because the attenuation is due to the loss of energy as sound propagates through a medium with viscosity, we hypothesized that the attenuation is improved by compressing clothing and shortening the sound propagation distance. Then, the amplitude spectrum of the heart sound was obtained over clothes of different thicknesses and materials in a phantom study and human trial at varying contact forces with a developed passive-actuated end-effector. Our results demonstrate the feasibility of the attenuation suppression method by applying an optimum contact force, which varied according to the clothing condition. In the phantom experiments, the attenuation rate was improved maximumly by 48% when applying the optimal contact force (1 N). In human trials, the attenuation rate was under the acceptable attenuation (40%) when applying the optimal contact force in all combinations in each subject. The proposed method promises the potential of robotic auscultation toward eliminating gender bias.
Collapse
Affiliation(s)
- Ryosuke Tsumura
- Health and Medical Research Institute, National Institute of Advanced Industrial Science and Technology, Tsukuba 305-8564, Japan
| | - Akihiro Umezawa
- Department of Creative Science and Engineering, Waseda University, Tokyo 162-0042, Japan
| | - Yuko Morishima
- Faculty of Medicine, University of Tsukuba, Tsukuba 305-8577, Japan
| | - Hiroyasu Iwata
- Department of Creative Science and Engineering, Waseda University, Tokyo 162-0042, Japan
| | - Kiyoshi Yoshinaka
- Health and Medical Research Institute, National Institute of Advanced Industrial Science and Technology, Tsukuba 305-8564, Japan
| |
Collapse
|
16
|
A multimodal user interface for touchless control of robotic ultrasound. Int J Comput Assist Radiol Surg 2022:10.1007/s11548-022-02810-0. [PMID: 36565368 PMCID: PMC10363039 DOI: 10.1007/s11548-022-02810-0] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/16/2022] [Accepted: 12/07/2022] [Indexed: 01/05/2023]
Abstract
PURPOSE Past research contained the investigation and development of robotic ultrasound. In this context, interfaces which allow for interaction with the robotic system are of paramount importance. Few researchers have addressed the issue of developing non-tactile interaction approaches, although they could be beneficial for maintaining sterility during medical procedures. Interaction could be supported by multimodality, which has the potential to enable intuitive and natural interaction. To assess the feasibility of multimodal interaction for non-tactile control of a co-located robotic ultrasound system, a novel human-robot interaction concept was developed. METHODS The medical use case of needle-based interventions under hybrid computed tomography and ultrasound imaging was analyzed by interviewing four radiologists. From the resulting workflow, interaction tasks were derived which include human-robot interaction. Based on this, characteristics of a multimodal, touchless human-robot interface were elaborated, suitable interaction modalities were identified, and a corresponding interface was developed, which was thereafter evaluated in a user study with eight participants. RESULTS The implemented interface includes voice commands, combined with hand gesture control for discrete control and navigation interaction of the robotic US probe, respectively. The interaction concept was evaluated by the users in the form of a quantitative questionnaire with a average usability. Qualitative analysis of interview results revealed user satisfaction with the implemented interaction methods and potential improvements to the system. CONCLUSION A multimodal, touchless interaction concept for a robotic US for the use case of needle-based procedures in interventional radiology was developed, incorporating combined voice and hand gesture control. Future steps will include the integration of a solution for the missing haptic feedback and the evaluation of its clinical suitability.
Collapse
|
17
|
Zakaria UMU, Mustaza SM, Zaman MHM, Rahni AAA. Development of Real-Time Contact Force Control of a Collaborative Robot for Automated Ultrasound Scanning. 2022 IEEE-EMBS CONFERENCE ON BIOMEDICAL ENGINEERING AND SCIENCES (IECBES) 2022. [DOI: 10.1109/iecbes54088.2022.10079599] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 09/02/2023]
Affiliation(s)
- Ungku M.Z. Ungku Zakaria
- Universiti Kebangsaan Malaysia,Faculty of Engineering & Built Environment,Bangi,Selangor,Malaysia,43600
| | - Seri M. Mustaza
- Universiti Kebangsaan Malaysia,Faculty of Engineering & Built Environment,Bangi,Selangor,Malaysia,43600
| | - Mohd H. Mohd Zaman
- Universiti Kebangsaan Malaysia,Faculty of Engineering & Built Environment,Bangi,Selangor,Malaysia,43600
| | - Ashrani A. Abd. Rahni
- Universiti Kebangsaan Malaysia,Faculty of Engineering & Built Environment,Bangi,Selangor,Malaysia,43600
| |
Collapse
|
18
|
Ma X, Kuo WY, Yang K, Rahaman A, Zhang HK. A-SEE: Active-Sensing End-effector Enabled Probe Self-Normal-Positioning for Robotic Ultrasound Imaging Applications. IEEE Robot Autom Lett 2022; 7:12475-12482. [PMID: 37325198 PMCID: PMC10266708 DOI: 10.1109/lra.2022.3218183] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 08/06/2023]
Abstract
Conventional manual ultrasound (US) imaging is a physically demanding procedure for sonographers. A robotic US system (RUSS) has the potential to overcome this limitation by automating and standardizing the imaging procedure. It also extends ultrasound accessibility in resource-limited environments with the shortage of human operators by enabling remote diagnosis. During imaging, keeping the US probe normal to the skin surface largely benefits the US image quality. However, an autonomous, real-time, low-cost method to align the probe towards the direction orthogonal to the skin surface without pre-operative information is absent in RUSS. We propose a novel end-effector design to achieve self-normal-positioning of the US probe. The end-effector embeds four laser distance sensors to estimate the desired rotation towards the normal direction. We then integrate the proposed end-effector with a RUSS system which allows the probe to be automatically and dynamically kept to normal direction during US imaging. We evaluated the normal positioning accuracy and the US image quality using a flat surface phantom, an upper torso mannequin, and a lung ultrasound phantom. Results show that the normal positioning accuracy is 4.17 ± 2.24 degrees on the flat surface and 14.67 ± 8.46 degrees on the mannequin. The quality of the RUSS collected US images from the lung ultrasound phantom was equivalent to that of the manually collected ones.
Collapse
Affiliation(s)
- Xihan Ma
- Department of Robotics Engineering, Worcester Polytechnic Institute, Worcester, MA, 01609, USA
| | - Wen-Yi Kuo
- Department of Robotics Engineering, Worcester Polytechnic Institute, Worcester, MA, 01609, USA
| | - Kehan Yang
- Department of Robotics Engineering, Worcester Polytechnic Institute, Worcester, MA, 01609, USA
| | - Ashiqur Rahaman
- Department of Robotics Engineering, Worcester Polytechnic Institute, Worcester, MA, 01609, USA
- Department of Biomedical Engineering, Worcester Polytechnic Institute, Worcester, MA, 01609, USA
| | - Haichong K Zhang
- Department of Robotics Engineering, Worcester Polytechnic Institute, Worcester, MA, 01609, USA
- Department of Biomedical Engineering, Worcester Polytechnic Institute, Worcester, MA, 01609, USA
| |
Collapse
|
19
|
Chifor R, Marita T, Arsenescu T, Santoma A, Badea AF, Colosi HA, Badea ME, Chifor I. Accuracy Report on a Handheld 3D Ultrasound Scanner Prototype Based on a Standard Ultrasound Machine and a Spatial Pose Reading Sensor. SENSORS 2022; 22:s22093358. [PMID: 35591048 PMCID: PMC9103853 DOI: 10.3390/s22093358] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 03/04/2022] [Revised: 04/11/2022] [Accepted: 04/25/2022] [Indexed: 02/05/2023]
Abstract
The aim of this study was to develop and evaluate a 3D ultrasound scanning method. The main requirements were the freehand architecture of the scanner and high accuracy of the reconstructions. A quantitative evaluation of a freehand 3D ultrasound scanner prototype was performed, comparing the ultrasonographic reconstructions with the CAD (computer-aided design) model of the scanned object, to determine the accuracy of the result. For six consecutive scans, the 3D ultrasonographic reconstructions were scaled and aligned with the model. The mean distance between the 3D objects ranged between 0.019 and 0.05 mm and the standard deviation between 0.287 mm and 0.565 mm. Despite some inherent limitations of our study, the quantitative evaluation of the 3D ultrasonographic reconstructions showed comparable results to other studies performed on smaller areas of the scanned objects, demonstrating the future potential of the developed prototype.
Collapse
Affiliation(s)
- Radu Chifor
- Department of Preventive Dentistry, University of Medicine and Pharmacy Iuliu Hatieganu, 400083 Cluj-Napoca, Romania; (R.C.); (M.-E.B.); (I.C.)
| | - Tiberiu Marita
- Computer Science Department, Technical University of Cluj-Napoca, 400114 Cluj-Napoca, Romania;
- Correspondence:
| | | | - Andrei Santoma
- Computer Science Department, Technical University of Cluj-Napoca, 400114 Cluj-Napoca, Romania;
| | | | - Horatiu Alexandru Colosi
- Department of Medical Education, Division of Medical Informatics and Biostatistics, Iuliu Hatieganu University of Medicine and Pharmacy, 400349 Cluj-Napoca, Romania;
| | - Mindra-Eugenia Badea
- Department of Preventive Dentistry, University of Medicine and Pharmacy Iuliu Hatieganu, 400083 Cluj-Napoca, Romania; (R.C.); (M.-E.B.); (I.C.)
| | - Ioana Chifor
- Department of Preventive Dentistry, University of Medicine and Pharmacy Iuliu Hatieganu, 400083 Cluj-Napoca, Romania; (R.C.); (M.-E.B.); (I.C.)
| |
Collapse
|
20
|
Zielke J, Eilers C, Busam B, Weber W, Navab N, Wendler T. RSV: Robotic Sonography for Thyroid Volumetry. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3146542] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/06/2022]
|
21
|
Sutedjo V, Tirindelli M, Eilers C, Simson W, Busam B, Navab N. Acoustic Shadowing Aware Robotic Ultrasound: Lighting up the Dark. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3141451] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
|
22
|
Remote Ultrasound Scan Procedures with Medical Robots: Towards New Perspectives between Medicine and Engineering. Appl Bionics Biomech 2022; 2022:1072642. [PMID: 35154375 PMCID: PMC8832154 DOI: 10.1155/2022/1072642] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/21/2021] [Revised: 12/10/2021] [Accepted: 02/01/2022] [Indexed: 12/13/2022] Open
Abstract
Background This review explores state-of-the-art teleoperated robots for medical ultrasound scan procedures, providing a comprehensive look including the recent trends arising from the COVID-19 pandemic. Methods Physicians' experience is included to indicate the importance of their role in the design of improved medical robots. From this perspective, novel classes of equipment for remote diagnostics based on medical robotics are discussed in terms of innovative engineering technologies. Results Relevant literature is reviewed under the system engineering point of view, organizing the discussion on the basis of the main technological focus of each contribution. Conclusions This contribution is aimed at stimulating new research to obtain faster results on teleoperated robotics for ultrasound diagnostics in response to the high demand raised by the ongoing pandemic.
Collapse
|
23
|
Ipsen S, Wulff D, Kuhlemann I, Schweikard A, Ernst F. Towards automated ultrasound imaging-robotic image acquisition in liver and prostate for long-term motion monitoring. Phys Med Biol 2021; 66. [PMID: 33770768 DOI: 10.1088/1361-6560/abf277] [Citation(s) in RCA: 11] [Impact Index Per Article: 3.7] [Reference Citation Analysis] [Abstract] [Key Words] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/06/2021] [Accepted: 03/26/2021] [Indexed: 11/12/2022]
Abstract
Real-time volumetric (4D) ultrasound has shown high potential for diagnostic and therapy guidance tasks. One of the main drawbacks of ultrasound imaging to date is the reliance on manual probe positioning and the resulting user dependence. Robotic assistance could help overcome this issue and facilitate the acquisition of long-term image data to observe dynamic processesin vivoover time. The aim of this study is to assess the feasibility of robotic probe manipulation and organ motion quantification during extended imaging sessions. The system consists of a collaborative robot and a 4D ultrasound system providing real-time data access. Five healthy volunteers received liver and prostate scans during free breathing over 30 min. Initial probe placement was performed with real-time remote control with a predefined contact force of 10 N. During scan acquisition, the probe position was continuously adjusted to the body surface motion using impedance control. Ultrasound volumes, the pose of the end-effector and the estimated contact forces were recorded. For motion analysis, one anatomical landmark was manually annotated in a subset of ultrasound frames for each experiment. Probe contact was uninterrupted over the entire scan duration in all ten sessions. Organ drift and imaging artefacts were successfully compensated using remote control. The median contact force along the probe's longitudinal axis was 10.0 N with maximum values of 13.2 and 21.3 N for liver and prostate, respectively. Forces exceeding 11 N only occurred in 0.3% of the time. Probe and landmark motion were more pronounced in the liver, with median interquartile ranges of 1.5 and 9.6 mm, compared to 0.6 and 2.7 mm in the prostate. The results show that robotic ultrasound imaging with dynamic force control can be used for stable, long-term imaging of anatomical regions affected by motion. The system facilitates the acquisition of 4D image datain vivoover extended scanning periods for the first time and holds the potential to be used for motion monitoring for therapy guidance as well as diagnostic tasks.
Collapse
Affiliation(s)
- Svenja Ipsen
- Institute for Robotics and Cognitive Systems, University of Luebeck, Luebeck, Germany.,Fraunhofer Research Institution for Individualized and Cell-Based Medical Engineering IMTE, Luebeck, Germany
| | - Daniel Wulff
- Institute for Robotics and Cognitive Systems, University of Luebeck, Luebeck, Germany
| | - Ivo Kuhlemann
- Institute for Robotics and Cognitive Systems, University of Luebeck, Luebeck, Germany
| | - Achim Schweikard
- Institute for Robotics and Cognitive Systems, University of Luebeck, Luebeck, Germany
| | - Floris Ernst
- Institute for Robotics and Cognitive Systems, University of Luebeck, Luebeck, Germany
| |
Collapse
|