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| Title | A user interface for robot-assisted diagnostic ultrasound |
| Publication Type | Conference Paper |
| Year of Publication | 2001 |
| Authors | Abolmaesumi, P., S. E. Salcudean, W. H. Zhu, S. P. DiMaio, and M. R. Sirouspour |
| Conference Name | Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on |
| Pagination | 1549 - 1554 vol.2 |
| Keywords | 3D 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. |
| URL | http://dx.doi.org/10.1109/ROBOT.2001.932831 |
| DOI | 10.1109/ROBOT.2001.932831 |