Robotic ultrasound platform for automation and standardization of the screening process

Type of publication:  Konferenzbericht
Publikationsstatus: Veröffentlicht
Serie: 6th Spring Meeting on basic science of the European Society for Vascular Surgery
Jahr: 2018
Monat: Mai
Organisation: European Society for Vascular Surgery
Abriss: Due to the considerable skill and expertise it requires, ultrasound image acquisition and diagnostics are difficult to be done separately, neither in real time nor retrospectively. Automated ultrasound image ac-quisition could potentially overcome this operator dependency. For the automation and standardization of the ultrasound imaging process, we are currently developing a medical robotic device platform. A prototype of this robot-supported US platform was produced, on which a suitable examination procedure for the abdominal aortic aneurysm screening is to be developed. Two core technologies were combined therefor: - A force-sensitive 7-DoF robot arm (KUKA LBR iiwa), which can position both automatically and manual-ly over a certain target area on the body surface. The arm has collision avoidance and ensures the dynam-ic force-controlled posture of the transducer to the patient. - Three-dimensional ultrasound is realized by matrix transducers and appropriate calculation algorithms on a modified the US station (GE Vivid 7). It enables recording of large areas at high frame rates. Thus the target as well as surrounding areas and nearby navigation points can be recorded simultaneously. The registration of the body surface is carried out by laser scanning, wherein additionally the movement tracking can be performed with an optical tracking system. Using a US phantom (BluePhantom FAST Trauma) the system was tested and verified. The result is a 4D volume data set for the physician-assisted diagnostic evaluation. The process delivered reproducible real-time visualization results on a workstation where the volumes were simultaneously visualized and stored. Automated US diagnostics should help to reduce the temporal and spatial binding of clinical resources in the future, thereby enabling better reproducibility of imaging. The device platform will serve as the basis for further automated US diagnostics and therapy procedures.
Autoren: Böttger, Sven
Kleemann, Markus
Ipsen, Svenja
Kuhlemann, Ivo
Bruder, Ralf
Ernst, Floris