Out-of-Plane Visual Servoing Method for Tracking the Carotid Artery with a Robot-Assisted Ultrasound Diagnostic System
Up to now, there are different kinds of robot-assisted ultrasound diagnostic systems proposed in the last decade. However, the compensation of the ultrasound probe position according to the patient movement is still one of the most important and useful functions required for those systems. For this purpose, in this research, we aim at developing an automated diagnostic system for the measurement of the wave intensity which is usually measured at the common carotid artery. In particular, in this paper, we focus on proposing a robust visual servoing method for tracking out-of-plane motion for a robot-assisted medical ultrasound diagnostic system by using a conventional 2D probe. A robotic device which manipulates the ultrasound probe firstly scans a small area around the target position and records several B-mode images at a regular interval. In order to track the out-of-plane motion, an inter-frame block matching method has been proposed and implemented on the Waseda-Tokyo Womens Medical-Aloka Blood Flow Measurement System No. 2 Refined (WTA-2R). A set of experiments was proposed to verify the effectiveness of the proposed method. From the experimental results, we could confirm its robustness while doing the task with real human tissues.
Ryu Nakadate Jorge Solis Atsuo Takanishi Eiichi Minagawa Motoaki Sugawara Kiyomi Niki
Graduate School of Advanced Science and Engineering,Waseda University,2-2 Wakamatsu-cho,Shinjuku-ku, Faculty of Science and Engineering,Waseda University ALOKA CO. LTD.,Japan Department of Medical Engineering,Himeji Dokkyo University,Japan Department of Biomedical Engineering,Tokyo City University,Japan
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
5267-5272
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）