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Fan K, Cai Y, Shen E, Wang Y, Yuan J, Tao C, Liu X. Elevation Resolution Enhancement Oriented 3D Ultrasound Imaging. ULTRASONIC IMAGING 2024; 46:220-232. [PMID: 38903053 DOI: 10.1177/01617346241259049] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/22/2024]
Abstract
Three-dimensional (3D) ultrasound imaging can be accomplished by reconstructing a sequence of two-dimensional (2D) ultrasound images. However, 2D ultrasound images usually suffer from low resolution in the elevation direction, thereby impacting the accuracy of 3D reconstructed results. The lateral resolution of 2D ultrasound is known to significantly exceed the elevation resolution. By combining scanning sequences acquired from orthogonal directions, the effects of poor elevation resolution can be mitigated through a composite reconstructing process. Moreover, capturing ultrasound images from multiple perspectives necessitates a precise probe positioning method with a wide angle of coverage. Optical tracking is popularly used for probe positioning for its high accuracy and environment-robustness. In this paper, a novel large-angle accurate optical positioning method is used for enhancing resolution in 3D ultrasound imaging through orthogonal-view scanning and composite reconstruction. Experiments on two phantoms proved that our method could significantly improve reconstruction accuracy in the elevation direction of the probe compared with single-angle parallel scanning. The results indicate that our method holds the potential to improve current 3D ultrasound imaging techniques.
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Affiliation(s)
- Kai Fan
- School of Electronic Science and Engineering, Nanjing University, Nanjing, China
| | - Yunye Cai
- School of Electronic Science and Engineering, Nanjing University, Nanjing, China
| | - Enxiang Shen
- School of Electronic Science and Engineering, Nanjing University, Nanjing, China
| | - Yuxin Wang
- School of Electronic Science and Engineering, Nanjing University, Nanjing, China
| | - Jie Yuan
- School of Electronic Science and Engineering, Nanjing University, Nanjing, China
| | - Chao Tao
- School of Physics, Nanjing University, Nanjing, China
| | - Xiaojun Liu
- School of Physics, Nanjing University, Nanjing, China
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Lu Y, Fan K, Yuan J, Chen Y, Ge Y, Tao C, Liu X. Free scan real time 3D ultrasound imaging with shading artefacts removal. ULTRASONICS 2023; 135:107091. [PMID: 37515837 DOI: 10.1016/j.ultras.2023.107091] [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: 04/05/2023] [Revised: 06/19/2023] [Accepted: 06/21/2023] [Indexed: 07/31/2023]
Abstract
Ultrasound imaging (USI) is a widely adopted imaging method in clinical diagnosis owing to its low cost, convenience, and safety. However, due to the complex acoustic attenuation, two-dimensional (2D) USI lacks the capability to achieve a clear imaging result when the target is shaded by high echo tissues. This paper proposes a three-dimensional (3D) free-scan real-time ultrasound imaging (FRUSI) method. By integrating 2D ultrasound image sequences around the region of interest (ROI) with a real-time and spatially accurate probe tracking method, the proposed FRUSI system provides clear and accurate ultrasound images for medical study. The experiment results on reconstruction precision and accuracy show the potential ability of our proposed system to provide high-quality 3D ultrasound imaging. Moreover, previously shaded targets can be discerned clearly in the same scan plane in both phantom studies and in vivo studies on the human finger joint. The performance of the proposed FRUSI system has demonstrated its potential value for clinical diagnosis to provide high ultrasound imaging quality and rich details in spatial information. Due to the convenient setup, the FRUSI system might potentially be expanded to other ultrasound imaging modalities.
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Affiliation(s)
- Yanchen Lu
- School of Electronic Science and Engineering, Nanjing University, Nanjing 210046, China
| | - Kai Fan
- School of Electronic Science and Engineering, Nanjing University, Nanjing 210046, China
| | - Jie Yuan
- School of Electronic Science and Engineering, Nanjing University, Nanjing 210046, China.
| | - Ying Chen
- School of Electronic Science and Engineering, Nanjing University, Nanjing 210046, China
| | - Yun Ge
- School of Electronic Science and Engineering, Nanjing University, Nanjing 210046, China
| | - Chao Tao
- School of Physics, Nanjing University, Nanjing 210046, China
| | - Xiaojun Liu
- School of Physics, Nanjing University, Nanjing 210046, China
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Gomez-Tames J, Yu W. Electro-localization method using a muscle conductive phantom for needle position detection towards medical training. Biomed Phys Eng Express 2023; 9:055030. [PMID: 37595567 DOI: 10.1088/2057-1976/acf1a6] [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: 01/25/2023] [Accepted: 08/18/2023] [Indexed: 08/20/2023]
Abstract
Simulation in healthcare can help train, improve, and evaluate medical personnel's skills. In the case of needle insertion/manipulation inside the muscle during an nEMG examination, a training simulator Requires estimating the position of the needle to output the electrical muscle activity in real time according to the training plan. External cameras can be used to estimate the needle location; however, different error sources can make its implementation difficult and new medical sensing technologies are needed. This study introduces and demonstrates the feasibility of a conductive phantom that serves as the medium for needle insertion and senses the 3D needle position based on a technique named electro-localization for the first time. The proposed conductive phantom is designed so that different voltage distributions are generated in the phantom using electrodes placed on its borders. The needle is inserted in the phantom, and the recorded voltages are mapped to spatial coordinates using a finite element method (FEM)-based computational model of the conductive phantom to estimate the 3D needle tip position. Experimental and simulation results of phantom voltage distributions agreed. In 2D mapping (no depth consideration), the needle position error was 1.7 mm, which was marginally reduced if only the central area of the phantom was used (1.5 mm). In 3D mapping, the error was 4 mm. This study showed the feasibility of using a conductive muscle phantom as a new embedded sensor that estimates needle position for medical training of nEMG without relying on external sensors.
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Affiliation(s)
- Jose Gomez-Tames
- Graduate School of Science and Engineering, Chiba University, Chiba 263-8522, Japan
- Center for Frontier Medical Engineering, Chiba University, Chiba 263-8522, Japan
| | - Wenwei Yu
- Graduate School of Science and Engineering, Chiba University, Chiba 263-8522, Japan
- Center for Frontier Medical Engineering, Chiba University, Chiba 263-8522, Japan
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Pornpipatsakul K, Chenviteesook A, Chaichaowarat R. Ultrasound Probe Movement Analysis Using Depth Camera with Compact Handle Design for Probe Contact Force Measurement. ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY. IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY. ANNUAL INTERNATIONAL CONFERENCE 2023; 2023:1-4. [PMID: 38082920 DOI: 10.1109/embc40787.2023.10340101] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 12/18/2023]
Abstract
The real-time information of the ultrasound probe movement and contact force during scanning is helpful for improving skill of medical professionals. This paper presents an affordable technique using an RGB-depth camera with the MediaPipe Hands framework for capturing the hand gesture to estimate the position and orientation of the ultrasound probe. The method does not require any additional marker which can interfere the motion and the feeling of handheld operation. The tracking accuracies of position and orientation were evaluated experimentally at different camera angles. The 3D printed handle was inserted into the grids of the XYZ plate and the tilt plate. Although the camera angle and the spatial position affect the accuracies, the maximum errors are always less than 7.5 mm and 10 degrees. The custom designed handle consisting of the inner and outer shells allows installation of the small three-axis force sensor for probe contact force measurement while scanning. The design is easy to assemble with an ultrasound probe without requiring any modification. The results of this work can be applied as a guideline for monitoring ultrasound training.
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Filippou A, Louca I, Damianou C. Characterization of a fat tissue mimicking material for high intensity focused ultrasound applications. J Ultrasound 2023; 26:505-515. [PMID: 36414928 PMCID: PMC10247632 DOI: 10.1007/s40477-022-00746-4] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/20/2022] [Accepted: 10/11/2022] [Indexed: 11/23/2022] Open
Abstract
PURPOSE Tissue-mimicking materials (TMMs) have a prominent role in validating new high intensity focused ultrasound (HIFU) therapies. Agar-based TMMs are often developed mimicking the thermal properties of muscle tissue, while TMMs simulating fat tissue properties are rarely developed. Herein, twelve agar-based TMMs were iteratively developed with varied concentrations of agar, water, glycerol and propan-2-ol, and characterized for their suitability in emulating the thermal conductivity of human fat tissue. METHODS Varied agar concentrations (2%, 4%, 6%, 8%, 12%, 16% and 20% w/v) were utilized for developing seven water-based TMMs, while a 20% w/v agar concentration was utilized for developing two water/alcohol-based TMMs (50% v/v water and 50% v/v either glycerol or propan-2-ol) and three alcohol-based TMMs (varied glycerol and propan-2-ol concentrations). Thermal conductivity was measured for all TMMs, and the tissue mimicking material (TMM) exhibiting thermal conductivity closest to human fat was considered the optimum fat TMM and was further characterized using ultrasound (US) and Magnetic Resonance Imaging (MRI). RESULTS For the seven water-based TMMs an inverse linear trend was observed between thermal conductivity and increased agar concentration, being between 0.524 and 0.445 W/m K. Alcohol addition decreased thermal conductivity of the two water/alcohol-based TMMs to about 0.33 W/m K, while in the alcohol-based TMMs, increased concentrations of propan-2-ol emerged as a modifier of thermal conductivity. The optimum fat TMM (33.3% v/v glycerol and 66.7% v/v propan-2-ol) exhibited a 0.231 W/m K thermal conductivity, and appeared hypoechoic on US images and with increased brightness on T1-Weighted MRI images. CONCLUSION The optimum fat TMM emulates the thermal conductivity of human fat tissue and exhibits a fat-like appearance on US and MRI images. The TMM is cost-effective and has a long lifespan and possesses great potential for use in HIFU applications as a fat TMM.
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Affiliation(s)
- Antria Filippou
- Department of Electrical Engineering, Computer Engineering and Informatics, Cyprus University of Technology, 30 Archbishop Kyprianou Street, 3036, Limassol, Cyprus
| | - Irene Louca
- Department of Electrical Engineering, Computer Engineering and Informatics, Cyprus University of Technology, 30 Archbishop Kyprianou Street, 3036, Limassol, Cyprus
| | - Christakis Damianou
- Department of Electrical Engineering, Computer Engineering and Informatics, Cyprus University of Technology, 30 Archbishop Kyprianou Street, 3036, Limassol, Cyprus.
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Wu C, Fu T, Chen X, Xiao J, Ai D, Fan J, Lin Y, Song H, Yang J. Automatic spatial calibration of freehand ultrasound probe with a multilayer N-wire phantom. ULTRASONICS 2023; 128:106862. [PMID: 36240539 DOI: 10.1016/j.ultras.2022.106862] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 12/01/2021] [Revised: 08/25/2022] [Accepted: 10/03/2022] [Indexed: 06/16/2023]
Abstract
The classic N-wire phantom has been widely used in the calibration of freehand ultrasound probes. One of the main challenges of the phantom is accurately identifying N-fiducials in ultrasound images, especially with multiple N-wire structures. In this study, a method using a multilayer N-wire phantom for the automatic spatial calibration of ultrasound images is proposed. All dots in the ultrasound image are segmented, scored, and classified according to the unique geometric features of the multilayer N-wire phantom. A recognition method for identifying N-fiducials from the dots is proposed for calibrating the spatial transformation of the ultrasound probe. At depths of 9, 11, 13, and 15 cm, the reconstruction error of 50 points is 1.24 ± 0.16, 1.09 ± 0.06, 0.95 ± 0.08, 1.02 ± 0.05 mm, respectively. The reconstruction mockup test shows that the distance accuracy is 1.11 ± 0.82 mm at a depth of 15 cm.
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Affiliation(s)
- Chan Wu
- Beijing Engineering Research Center of Mixed Reality and Advanced Display, School of Optics and Photonics, Beijing Institute of Technology, Beijing 100081, China
| | - Tianyu Fu
- School of Medical Technology, Beijing Institute of Technology, Beijing 100081, China.
| | - Xinyu Chen
- Beijing Engineering Research Center of Mixed Reality and Advanced Display, School of Optics and Photonics, Beijing Institute of Technology, Beijing 100081, China
| | - Jian Xiao
- Beijing Engineering Research Center of Mixed Reality and Advanced Display, School of Optics and Photonics, Beijing Institute of Technology, Beijing 100081, China
| | - Danni Ai
- Beijing Engineering Research Center of Mixed Reality and Advanced Display, School of Optics and Photonics, Beijing Institute of Technology, Beijing 100081, China
| | - Jingfan Fan
- Beijing Engineering Research Center of Mixed Reality and Advanced Display, School of Optics and Photonics, Beijing Institute of Technology, Beijing 100081, China
| | - Yucong Lin
- School of Medical Technology, Beijing Institute of Technology, Beijing 100081, China.
| | - Hong Song
- School of Computer Science and Technology, Beijing Institute of Technology, Beijing 100081, China
| | - Jian Yang
- Beijing Engineering Research Center of Mixed Reality and Advanced Display, School of Optics and Photonics, Beijing Institute of Technology, Beijing 100081, China
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Liu J, Sun W, Zhao Y, Zheng G. Ultrasound Probe and Hand-Eye Calibrations for Robot-Assisted Needle Biopsy. SENSORS (BASEL, SWITZERLAND) 2022; 22:9465. [PMID: 36502167 PMCID: PMC9740029 DOI: 10.3390/s22239465] [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: 10/03/2022] [Revised: 11/28/2022] [Accepted: 11/30/2022] [Indexed: 06/17/2023]
Abstract
In robot-assisted ultrasound-guided needle biopsy, it is essential to conduct calibration of the ultrasound probe and to perform hand-eye calibration of the robot in order to establish a link between intra-operatively acquired ultrasound images and robot-assisted needle insertion. Based on a high-precision optical tracking system, novel methods for ultrasound probe and robot hand-eye calibration are proposed. Specifically, we first fix optically trackable markers to the ultrasound probe and to the robot, respectively. We then design a five-wire phantom to calibrate the ultrasound probe. Finally, an effective method taking advantage of steady movement of the robot but without an additional calibration frame or the need to solve the AX=XB equation is proposed for hand-eye calibration. After calibrations, our system allows for in situ definition of target lesions and aiming trajectories from intra-operatively acquired ultrasound images in order to align the robot for precise needle biopsy. Comprehensive experiments were conducted to evaluate accuracy of different components of our system as well as the overall system accuracy. Experiment results demonstrated the efficacy of the proposed methods.
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Qin J, Wu J. Realizing the Potential of Computer-Assisted Surgery by Embedding Digital Twin Technology. JMIR Med Inform 2022; 10:e35138. [PMID: 36346669 PMCID: PMC9682458 DOI: 10.2196/35138] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/22/2021] [Revised: 10/23/2022] [Accepted: 10/25/2022] [Indexed: 11/09/2022] Open
Abstract
The value of virtual world and digital phenotyping has been demonstrated in several fields, and their applications in the field of surgery are worthy of attention and exploration. This viewpoint describes the necessity and approach to understanding the deeper potential of computer-assisted surgery through interaction and symbiosis between virtual and real spaces. We propose to embed digital twin technology into all aspects of computer-assisted surgery rather than just the surgical object and further apply it to the whole process from patient treatment to recovery. A more personalized, precise, and predictable surgery is our vision.
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Affiliation(s)
- Jiaxin Qin
- Institute of Biomedical Engineering, Shenzhen International Graduate School, Tsinghua University, Shenzhen, China
| | - Jian Wu
- Institute of Biomedical Engineering, Shenzhen International Graduate School, Tsinghua University, Shenzhen, China
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A novel ultrasound probe calibration method for multimodal image guidance of needle placement in cervical cancer brachytherapy. Phys Med 2022; 100:81-89. [PMID: 35759943 DOI: 10.1016/j.ejmp.2022.06.009] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Submit a Manuscript] [Subscribe] [Scholar Register] [Received: 11/17/2021] [Revised: 03/10/2022] [Accepted: 06/13/2022] [Indexed: 01/11/2023] Open
Abstract
PURPOSE Interstitial needles placement is a critical component of combined intracavitary/interstitial (IC/IS) brachytherapy (BT). To ensure precise placement of interstitial needles, we proposed a novel ultrasonic (US) probe calibration method to accurately register the US image in the magnetic resonance imaging (MRI) image and provide multimodal image guidance for needle placement. METHODS A wire-based calibration phantom combined with the stylus was developed for the calibration of US probe. The calibration phantom helps to quickly align the imaging plane of the US probe with the fiducial points to obtain US images of these points. The coordinates of fiducial points in US images were located automatically by feature extraction algorithms and were further corrected by the proposed correction method. Ingenious structures were designed on both sides of the calibration phantom to accurately obtain the coordinates of the fiducial points relative to the tracking device. Marker validation and pelvic phantom study were performed to evaluate the accuracy of the proposed calibration method. RESULTS In the marker validation, the US probe calibration method with corrected transformation achieves a registration accuracy of 0.694 ± 0.014 mm, and the uncorrected one is 0.746 ± 0.018 mm. In the pelvic phantom study, the needle tip difference was 1.096 ± 0.225 mm and trajectory difference was 1.416 ± 0.284 degrees. CONCLUSION The proposed US probe calibration method is helpful to achieve more accurate multimodality image guidance for needle placement.
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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.
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Lin X, Zhou S, Wen T, Jiang S, Wang C, Chen J. A novel multi-DoF surgical robotic system for brachytherapy on liver tumor: Design and control. Int J Comput Assist Radiol Surg 2021; 16:1003-1014. [PMID: 33934286 PMCID: PMC8166720 DOI: 10.1007/s11548-021-02380-7] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/16/2020] [Accepted: 04/13/2021] [Indexed: 12/24/2022]
Abstract
Purpose Radioactive seed implantation is an effective invasive treatment method for malignant liver tumors in hepatocellular carcinomas. However, challenges of the manual procedure may degrade the efficacy of the technique, such as the high accuracy requirement and radiation exposure to the surgeons. This paper aims to develop a robotic system and its control methods for assisting surgeons on the treatment. Method We present an interventional robotic system, which consists of a 5 Degree-of-Freedom (DoF) positioning robotic arm (a 3-DoF translational joint and a 2-DoF revolute joint) and a needle actuator used for needle insertion and radioactive seeds implantation. Control strategy is designed for the system to ensure the safety of the motion. In the designed framework, an artificial potential field (APF)-based motion planning and an ultrasound (US) image-based contacting methods are proposed for the control. Result Experiments were performed to evaluate position and orientation accuracy as well as validate the motion planning procedure of the system. The mean and standard deviation of targeting error is 0.69 mm and 0.33 mm, respectively. Needle placement accuracy is 1.10 mm by mean. The feasibility of the control strategy, including path planning and the contacting methods, is demonstrated by simulation and experiments based on an abdominal phantom. Conclusion This paper presents a robotic system with force and US image feedback in assisting surgeons performing brachytherapy on liver tumors. The proposed robotic system is capable of executing an accurate needle insertion task with by optical tracking. The proposed methods improve the safety of the robot’s motion and automate the process of US probe contacting under the feedback of US-image.
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Affiliation(s)
- Xiaofeng Lin
- Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, 1068 Xueyuan Avenue, Shenzhen University Town, Shenzhen, GD, 518055, People's Republic of China.,University of Chinese Academy of Sciences, Beijing, People's Republic of China
| | - Shoujun Zhou
- Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, 1068 Xueyuan Avenue, Shenzhen University Town, Shenzhen, GD, 518055, People's Republic of China.
| | - Tiexiang Wen
- Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, 1068 Xueyuan Avenue, Shenzhen University Town, Shenzhen, GD, 518055, People's Republic of China. .,National Innovation Center for Advanced Medical Devices, Shenzhen, GD, 518110, People's Republic of China.
| | - Shenghao Jiang
- Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, 1068 Xueyuan Avenue, Shenzhen University Town, Shenzhen, GD, 518055, People's Republic of China
| | - Cheng Wang
- Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, 1068 Xueyuan Avenue, Shenzhen University Town, Shenzhen, GD, 518055, People's Republic of China
| | - Jingtao Chen
- Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, 1068 Xueyuan Avenue, Shenzhen University Town, Shenzhen, GD, 518055, People's Republic of China
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Wang KJ, Chen CH, Chen JJ(J, Ciou WS, Xu CB, Du YC. An Improved Sensing Method of a Robotic Ultrasound System for Real-Time Force and Angle Calibration. SENSORS (BASEL, SWITZERLAND) 2021; 21:2927. [PMID: 33922012 PMCID: PMC8122492 DOI: 10.3390/s21092927] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 03/02/2021] [Revised: 04/07/2021] [Accepted: 04/17/2021] [Indexed: 01/08/2023]
Abstract
An ultrasonic examination is a clinically universal and safe examination method, and with the development of telemedicine and precision medicine, the robotic ultrasound system (RUS) integrated with a robotic arm and ultrasound imaging system receives increasing attention. As the RUS requires precision and reproducibility, it is important to monitor the real-time calibration of the RUS during examination, especially the angle of the probe for image detection and its force on the surface. Additionally, to speed up the integration of the RUS and the current medical ultrasound system (US), the current RUSs mostly use a self-designed fixture to connect the probe to the arm. If the fixture has inconsistencies, it may cause an operating error. In order to improve its resilience, this study proposed an improved sensing method for real-time force and angle calibration. Based on multichannel pressure sensors, an inertial measurement unit (IMU), and a novel sensing structure, the ultrasonic probe and robotic arm could be simply and rapidly combined, which rendered real-time force and angle calibration at a low cost. The experimental results show that the average success rate of the downforce position identification achieved was 88.2%. The phantom experiment indicated that the method could assist the RUS in the real-time calibration of both force and angle during an examination.
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Affiliation(s)
- Kuan-Ju Wang
- Department of Biomedical Engineering, National Cheng Kung University, No.1, University Road, Tainan 70101, Taiwan; (K.-J.W.); (J.-J.C.); (C.-B.X.)
- Brain Navi Biotechnology Co., Ltd., No.66-1, Shengyi 5th Rd. Zhubei City, Hsinchu County 302041, Taiwan; (C.-H.C.); (W.-S.C.)
| | - Chieh-Hsiao Chen
- Brain Navi Biotechnology Co., Ltd., No.66-1, Shengyi 5th Rd. Zhubei City, Hsinchu County 302041, Taiwan; (C.-H.C.); (W.-S.C.)
- China Medical University Beigang Hospital, No.123, Xinde Road, Xinjia Village, Beigang Township, Yunlin County 65152, Taiwan
| | - Jia-Jin (Jason) Chen
- Department of Biomedical Engineering, National Cheng Kung University, No.1, University Road, Tainan 70101, Taiwan; (K.-J.W.); (J.-J.C.); (C.-B.X.)
| | - Wei-Siang Ciou
- Brain Navi Biotechnology Co., Ltd., No.66-1, Shengyi 5th Rd. Zhubei City, Hsinchu County 302041, Taiwan; (C.-H.C.); (W.-S.C.)
| | - Cheng-Bin Xu
- Department of Biomedical Engineering, National Cheng Kung University, No.1, University Road, Tainan 70101, Taiwan; (K.-J.W.); (J.-J.C.); (C.-B.X.)
| | - Yi-Chun Du
- Department of Biomedical Engineering, National Cheng Kung University, No.1, University Road, Tainan 70101, Taiwan; (K.-J.W.); (J.-J.C.); (C.-B.X.)
- Medical Device Innovation Center, National Cheng Kung University, No.1, University Road, Tainan 70101, Taiwan
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