TY - JOUR
T1 - Robotic-assisted ultrasound for fetal imaging
T2 - 20th Towards Autonomous Robotic Systems Conference, TAROS 2019
AU - Wang, Shuangyi
AU - Housden, James
AU - Noh, Yohan
AU - Singh, Davinder
AU - Singh, Anisha
AU - Skelton, Emily
AU - Matthew, Jacqueline
AU - Tan, Cornelius
AU - Back, Junghwan
AU - Lindenroth, Lukas
AU - Gomez, Alberto
AU - Toussaint, Nicolas
AU - Zimmer, Veronika
AU - Knight, Caroline
AU - Fletcher, Tara
AU - Lloyd, David
AU - Simpson, John
AU - Pasupathy, Dharmintra
AU - Liu, Hongbin
AU - Althoefer, Kaspar
AU - Hajnal, Joseph
AU - Razavi, Reza
AU - Rhode, Kawal
PY - 2019/1/1
Y1 - 2019/1/1
N2 - The development of robotic-assisted extracorporeal ultrasound systems has a long history and a number of projects have been proposed since the 1990s focusing on different technical aspects. These aim to resolve the deficiencies of on-site manual manipulation of hand-held ultrasound probes. This paper presents the recent ongoing developments of a series of bespoke robotic systems, including both single-arm and dual-arm versions, for a project known as intelligent Fetal Imaging and Diagnosis (iFIND). After a brief review of the development history of the extracorporeal ultrasound robotic system used for fetal and abdominal examinations, the specific aim of the iFIND robots, the design evolution, the implementation details of each version, and the initial clinical feedback of the iFIND robot series are presented. Based on the preliminary testing of these newly-proposed robots on 42 volunteers, the successful and reliable working of the mechatronic systems were validated. Analysis of a participant questionnaire indicates a comfortable scanning experience for the volunteers and a good acceptance rate to being scanned by the robots.
AB - The development of robotic-assisted extracorporeal ultrasound systems has a long history and a number of projects have been proposed since the 1990s focusing on different technical aspects. These aim to resolve the deficiencies of on-site manual manipulation of hand-held ultrasound probes. This paper presents the recent ongoing developments of a series of bespoke robotic systems, including both single-arm and dual-arm versions, for a project known as intelligent Fetal Imaging and Diagnosis (iFIND). After a brief review of the development history of the extracorporeal ultrasound robotic system used for fetal and abdominal examinations, the specific aim of the iFIND robots, the design evolution, the implementation details of each version, and the initial clinical feedback of the iFIND robot series are presented. Based on the preliminary testing of these newly-proposed robots on 42 volunteers, the successful and reliable working of the mechatronic systems were validated. Analysis of a participant questionnaire indicates a comfortable scanning experience for the volunteers and a good acceptance rate to being scanned by the robots.
UR - http://www.scopus.com/inward/record.url?scp=85073894511&partnerID=8YFLogxK
U2 - 10.1007/978-3-030-25332-5_3
DO - 10.1007/978-3-030-25332-5_3
M3 - Conference paper
AN - SCOPUS:85073894511
SN - 0302-9743
SP - 27
EP - 38
JO - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
JF - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Y2 - 3 July 2019 through 5 July 2019
ER -