A user interface for robot-assisted diagnostic ultrasound

TitleA user interface for robot-assisted diagnostic ultrasound
Publication TypeConference Paper
Year of Publication2001
AuthorsAbolmaesumi, P., S. E. Salcudean, W. H. Zhu, S. P. DiMaio, and M. R. Sirouspour
Conference NameRobotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
Pagination1549 - 1554 vol.2
Keywords3D reconstruction, biomedical ultrasonics, feature extraction, feature tracking, medical diagnostic ultrasound, medical image processing, medical robotics, motion compensation, robot motions, robot-assisted diagnostic ultrasound, stability, tracking, ultrasound image features, ultrasound image processor, ultrasound image servoing, ultrasound phantom, ultrasound transducer, user interface, user interfaces
Abstract

A robot-assisted system for medical diagnostic ultrasound has been developed by the authors. This paper presents key features of the user interface used in this system. While the ultrasound transducer is positioned by a robot, the operator, the robot controller, and an ultrasound image processor have shared control over its motion. Ultrasound image features that can be selected by the operator are recognized and tracked by a variety of techniques. Based on feature tracking, ultrasound image servoing in three axes has been incorporated in the interface and can be enabled to automatically compensate, through robot motions, unwanted motions in the plane of the ultrasound beam. The stability and accuracy of the system is illustrated through a 3D reconstruction of an ultrasound phantom.

URLhttp://dx.doi.org/10.1109/ROBOT.2001.932831
DOI10.1109/ROBOT.2001.932831

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