Motion-Aware Robotic 3D Ultrasound
Jiang Z, Wang H, Li Z, Grimm M, Zhou M, Eck U, Brecht S, Lueth TC, Wendler T, Navab N (2021)
Publication Type: Conference contribution
Publication year: 2021
Journal
Publisher: Institute of Electrical and Electronics Engineers Inc.
Book Volume: 2021-May
Pages Range: 12494-12500
Conference Proceedings Title: Proceedings - IEEE International Conference on Robotics and Automation
Event location: Xi'an, CHN
ISBN: 9781728190778
DOI: 10.1109/ICRA48506.2021.9561487
Abstract
Robotic three-dimensional (3D) ultrasound (US) imaging has been employed to overcome the drawbacks of traditional US examinations, such as high inter-operator variability and lack of repeatability. However, object movement remains a challenge as unexpected motion decreases the quality of the 3D compounding. Furthermore, attempted adjustment of objects, e.g., adjusting limbs to display the entire limb artery tree, is not allowed for conventional robotic US systems. To address this challenge, we propose a vision-based robotic US system that can monitor the object's motion and automatically update the sweep trajectory to provide 3D compounded images of the target anatomy seamlessly. To achieve these functions, a depth camera is employed to extract the manually planned sweep trajectory after which the normal direction of the object is estimated using the extracted 3D trajectory. Subsequently, to monitor the movement and further compensate for this motion to accurately follow the trajectory, the position of firmly attached passive markers is tracked in real-time. Finally, a stepwise compounding was performed. The experiments on a gel phantom demonstrate that the system can resume a sweep when the object is not stationary during scanning.
Involved external institutions
Germany (DE)How to cite
APA:
Jiang, Z., Wang, H., Li, Z., Grimm, M., Zhou, M., Eck, U.,... Navab, N. (2021). Motion-Aware Robotic 3D Ultrasound. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 12494-12500). Xi'an, CHN: Institute of Electrical and Electronics Engineers Inc..
MLA:
Jiang, Zhongliang, et al. "Motion-Aware Robotic 3D Ultrasound." Proceedings of the 2021 IEEE International Conference on Robotics and Automation, ICRA 2021, Xi'an, CHN Institute of Electrical and Electronics Engineers Inc., 2021. 12494-12500.
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