Robotic 4D ultrasound solution for real-time visualization and teleoperation

Type of publication:  Artikel
Publikationsstatus: Veröffentlicht
Zeitschrift: Current Directions in Biomedical Engineering
Band: 3
Nummer: 2
Jahr: 2017
Monat: September
Seiten: 559-561
Verlag: De Gruyter
Organisation: Joint conference of the German, Austrian and Swiss Societies for Biomedical Engineering
ISSN: 2364-5504
Abriss: Automation of the image acquisition process via robotic solutions offer a large leap towards resolving ultrasound’s user-dependency. This paper, as part of a larger project aimed to develop a multipurpose 4d-ultrasonic force-sensitive robot for medical applications, focuses on achieving real-time remote visualisation for 4d ultrasound image transfer. This was possible through implementing our software modification on a GE Vivid 7 Dimension workstation, which operates a matrix array probe controlled by a KUKA LBR iiwa 7 7-DOF robotic arm. With the help of robotic positioning and the matrix array probe, fast volumetric imaging of target regions was feasible. By testing ultrasound volumes, which were roughly 880 kB in size, while using gigabit Ethernet connection, a latency of ∼57 ms was achievable for volume transfer between the ultrasound station and a remote client application, which as a result allows a frame count of 17.4 fps. Our modification thus offers for the first time real-time remote visualization, recording and control of 4d ultrasound data, which can be implemented in teleoperation.
Schlagworte: 4d, Real-Time, robotic, ultrasound
Autoren: Al-Badri, Mohammed
Ipsen, Svenja
Böttger, Sven
Ernst, Floris
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