Robotic Intra-Operative Ultrasound: Virtual Environments and Parallel Systems

Robotic intra-operative ultrasound has the potential to improve the conventional practice of diagnosis and procedure guidance that are currently performed manually. Working towards automatic or semi-automatic ultrasound, being able to define ultrasound views and the corresponding probe poses via int...

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Veröffentlicht in:IEEE/CAA journal of automatica sinica Jg. 8; H. 5; S. 1095 - 1106
Hauptverfasser: Wang, Shuangyi, Housden, James, Bai, Tianxiang, Liu, Hongbin, Back, Junghwan, Singh, Davinder, Rhode, Kawal, Hou, Zeng-Guang, Wang, Fei-Yue
Format: Journal Article
Sprache:Englisch
Veröffentlicht: Piscataway The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 01.05.2021
State Key Laboratory of Management and Control of Complex Systems, Chinese Academy of Sciences, Institute of Automation, Beijing 100190, China%School of Biomedical Engineering and Imaging Sciences, King's College London, London SE17EH, UK%Xtronics, Ltd., Gravesend DA122AD, UK
Schlagworte:
Algorithms
Automatic control
Control algorithms
Control theory
Customization
Graphical user interface
Graphical user interfaces
Medical robots
Optimization
parallel intelligence
parallel systems
Probes
Robot control
robotic ultrasound
robotic-assisted surgery
Robotics
Robots
Three-dimensional displays
Ultrasonic imaging
Ultrasonic testing
Ultrasound
Virtual environments
parallel systems
parallel intelligence
robotic-assisted surgery
robotic ultrasound
Medical robots
ISSN:2329-9266, 2329-9274
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Zusammenfassung:Robotic intra-operative ultrasound has the potential to improve the conventional practice of diagnosis and procedure guidance that are currently performed manually. Working towards automatic or semi-automatic ultrasound, being able to define ultrasound views and the corresponding probe poses via intelligent approaches become crucial. Based on the concept of parallel system which incorporates the ingredients of artificial systems, computational experiments, and parallel execution, this paper utilized a recent developed robotic trans-esophageal ultrasound system as the study object to explore the method for developing the corresponding virtual environments and present the potential applications of such systems. The proposed virtual system includes the use of 3D slicer as the main workspace and graphic user interface (GUI), Matlab engine to provide robotic control algorithms and customized functions, and PLUS (Public software Library for UltraSound imaging research) toolkit to generate simulated ultrasound images. Detailed implementation methods were presented and the proposed features of the system were explained. Based on this virtual system, example uses and case studies were presented to demonstrate its capabilities when used together with the physical TEE robot. This includes standard view definition and customized view optimization for pre-planning and navigation, as well as robotic control algorithm evaluations to facilitate real-time automatic probe pose adjustments. To conclude, the proposed virtual system would be a powerful tool to facilitate the further developments and clinical uses of the robotic intra-operative ultrasound systems.
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ISSN:2329-9266
2329-9274
DOI:10.1109/JAS.2021.1003985