Abstract
In this paper, we present our research on the development of an automated medical ultrasound scanning system for the carotid artery using probe a supporting manipulator (parallel link mechanism). In particular, we detail the mechanism design of the manipulator and a real-time image processing algorithms to detect the carotid artery and tissue layer of its walls (in the B-mode of ultrasound image). Several sequential patterns of ultrasound probe trajectory were implemented in order to enable the manipulator to scan the surface of neck effectively. A set of experiments has been carried out to verify the effectiveness of the proposed system.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Bibliography
P. Abolmaesumi, S. E. Salcudean, W.-II. Zhu, M. R. Sirouspour, and S. P. DiMaio. Image-guided control of a robot for medical ultrasound. IEEE Transaction on Robotics and Automation, 18(1): 11–23, 2002.
A. Harada, T. Okada, M. Sugawara, and K. Niki. Development of a non-invasive real-time measurement system of wave intensity, pages 1517–1520, 2000.
C. J. HJones, M. Sugawara, R. H. Davis, Y. Kondoli, K. Uchlda, and K. H. Parker. Arterial wave intensity: physical meaning and physiological significance. In S. Hosoda, T. Yaginuma, M. Sugawara, M.G. Taylor, and CG. Caro (eds), editors, Recent progress in cardiovascular mechanics, pages 129–148. Hanvood Academic Publishers, Chur, Switzerland, 1994.
A. Krupa, G. Fichtinger, and G. D. Hager. Full motion tracking in ultrasound using image speckle information and visual servoing. Proceedings of 2007 IEEE International Conference on Robotics and Automation, pages 2458–2464, 2007.
R. Nakadate, H. Uda, H. Hirano, J. Soils, A. Takanishi, E. Minagawa, M. Sugawara, and K. Niki. Development of assisted-robotic system designed to measure the wave intensity with an ultrasonic diagnostic device. Proceedings of 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 510–515, 2009.
Y. Sadamitsit, A. Pujlta, C. Arino, A. Takanishi, A. Harada, M. Sugawara, and K. Niki. Development of a robotic carotid blood flow measurement system — a compact ultrasonic probe manipulator consisting of a parallel mechanism. Proceedings of 2006 IEEE International Conference on Robotics, Automation, and Mechatronics, pages 1–6, 2006.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2010 CISM, Udine
About this paper
Cite this paper
Nakadate, R., Solis, J., Takanishi, A., Sugawara, M., Niki, K., Minagawa, E. (2010). Development of the Ultrasound Probe Holding Robot WTA-1RII and an Automated Scanning Algorithm based on Ultrasound Image Feedback. In: Parenti Castelli, V., Schiehlen, W. (eds) ROMANSY 18 Robot Design, Dynamics and Control. CISM International Centre for Mechanical Sciences, vol 524. Springer, Vienna. https://doi.org/10.1007/978-3-7091-0277-0_42
Download citation
DOI: https://doi.org/10.1007/978-3-7091-0277-0_42
Publisher Name: Springer, Vienna
Print ISBN: 978-3-7091-0276-3
Online ISBN: 978-3-7091-0277-0
eBook Packages: EngineeringEngineering (R0)