Robotic ultrasound trajectory planning for volume of interest coverage

Graumann C, Fuerst B, Hennersperger C, Bork F, Navab N (2016)

Publication Type: Conference contribution

Publication year: 2016

Journal

Proceedings - IEEE International Conference on Robotics and Automation Institute of Electrical and Electronics Engineers

Publisher: Institute of Electrical and Electronics Engineers Inc.

Book Volume: 2016-June

Pages Range: 736-741

Conference Proceedings Title: Proceedings - IEEE International Conference on Robotics and Automation

Event location: Stockholm, SWE

ISBN: 9781467380263

DOI: 10.1109/ICRA.2016.7487201

Abstract

Medical robotic ultrasound offers potential to assist interventions, ease long-term monitoring and reduce operator dependency. Various techniques for remote control of ultrasound probes through telemanipulation systems have been presented in the past, however not exploiting the potential of fully autonomous acquisitions directly performed by robotic systems. In this paper, a trajectory planning algorithm for automatic robotic ultrasound acquisition under expert supervision is introduced. The objective is to compute a suitable path for covering a volume of interest selected in diagnostic images, for example by prior segmentation. A 3D patient surface point cloud is acquired using a depth camera, which is the sole prerequisite besides the volume delineation. An easily parameterizable path function generates single or multiple parallel scan trajectories capable of dealing with large target volumes. A spline is generated through the preliminary path points and is transferred to a lightweight robot to perform the ultrasound scan using an impedance control mode. The proposed approach is validated via simulation as well as on phantoms and on animal viscera.

Involved external institutions

Johns Hopkins University (JHU) US United States (USA) (US) Technische Universität München (TUM) DE Germany (DE)

How to cite

APA:

Graumann, C., Fuerst, B., Hennersperger, C., Bork, F., & Navab, N. (2016). Robotic ultrasound trajectory planning for volume of interest coverage. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 736-741). Stockholm, SWE: Institute of Electrical and Electronics Engineers Inc..

MLA:

Graumann, Christoph, et al. "Robotic ultrasound trajectory planning for volume of interest coverage." Proceedings of the 2016 IEEE International Conference on Robotics and Automation, ICRA 2016, Stockholm, SWE Institute of Electrical and Electronics Engineers Inc., 2016. 736-741.

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