Human abdomen recognition using camera and force sensor in medical robot system for automatic ultrasound scan

Ammar Safwan Bin Mustafa, Takashi Ishii, Yoshiki Matsunaga, Ryu Nakadate, Hiroyuki Ishii, Kouji Ogawa, Akiko Saito, Motoaki Sugawara, Kiyomi Niki, Atsuo Takanishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

Physicians use ultrasound scans to obtain real-time images of internal organs, because such scans are safe and inexpensive. However, people in remote areas face difficulties to be scanned due to aging society and physician's shortage. Hence, it is important to develop an autonomous robotic system to perform remote ultrasound scans. Previously, we developed a robotic system for automatic ultrasound scan focusing on human's liver. In order to make it a completely autonomous system, we present in this paper a way to autonomously localize the epigastric region as the starting position for the automatic ultrasound scan. An image processing algorithm marks the umbilicus and mammary papillae on a digital photograph of the patient's abdomen. Then, we made estimation for the location of the epigastric region using the distances between these landmarks. A supporting algorithm distinguishes rib position from epigastrium using the relationship between force and displacement. We implemented these algorithms with the automatic scanning system into an apparatus: a Mitsubishi Electric's MELFA RV-1 six axis manipulator. Tests on 14 healthy male subjects showed the apparatus located the epigastric region with a success rate of 94%. The results suggest that image recognition was effective in localizing a human body part.

Original languageEnglish
Title of host publication2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2013
Pages4855-4858
Number of pages4
DOIs
Publication statusPublished - Oct 31 2013
Event2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2013 - Osaka, Japan
Duration: Jul 3 2013Jul 7 2013

Publication series

NameProceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
ISSN (Print)1557-170X

Other

Other2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2013
CountryJapan
CityOsaka
Period7/3/137/7/13

Fingerprint

Abdomen
Ultrasonics
Cameras
Robotics
Robots
Human Body
Sensors
Physicians
Umbilicus
Ribs
Image recognition
Healthy Volunteers
Breast
Liver
Manipulators
Image processing
Aging of materials
Scanning

All Science Journal Classification (ASJC) codes

  • Signal Processing
  • Biomedical Engineering
  • Computer Vision and Pattern Recognition
  • Health Informatics

Cite this

Mustafa, A. S. B., Ishii, T., Matsunaga, Y., Nakadate, R., Ishii, H., Ogawa, K., ... Takanishi, A. (2013). Human abdomen recognition using camera and force sensor in medical robot system for automatic ultrasound scan. In 2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2013 (pp. 4855-4858). [6610635] (Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS). https://doi.org/10.1109/EMBC.2013.6610635

Human abdomen recognition using camera and force sensor in medical robot system for automatic ultrasound scan. / Mustafa, Ammar Safwan Bin; Ishii, Takashi; Matsunaga, Yoshiki; Nakadate, Ryu; Ishii, Hiroyuki; Ogawa, Kouji; Saito, Akiko; Sugawara, Motoaki; Niki, Kiyomi; Takanishi, Atsuo.

2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2013. 2013. p. 4855-4858 6610635 (Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Mustafa, ASB, Ishii, T, Matsunaga, Y, Nakadate, R, Ishii, H, Ogawa, K, Saito, A, Sugawara, M, Niki, K & Takanishi, A 2013, Human abdomen recognition using camera and force sensor in medical robot system for automatic ultrasound scan. in 2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2013., 6610635, Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS, pp. 4855-4858, 2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2013, Osaka, Japan, 7/3/13. https://doi.org/10.1109/EMBC.2013.6610635
Mustafa ASB, Ishii T, Matsunaga Y, Nakadate R, Ishii H, Ogawa K et al. Human abdomen recognition using camera and force sensor in medical robot system for automatic ultrasound scan. In 2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2013. 2013. p. 4855-4858. 6610635. (Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS). https://doi.org/10.1109/EMBC.2013.6610635
Mustafa, Ammar Safwan Bin ; Ishii, Takashi ; Matsunaga, Yoshiki ; Nakadate, Ryu ; Ishii, Hiroyuki ; Ogawa, Kouji ; Saito, Akiko ; Sugawara, Motoaki ; Niki, Kiyomi ; Takanishi, Atsuo. / Human abdomen recognition using camera and force sensor in medical robot system for automatic ultrasound scan. 2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2013. 2013. pp. 4855-4858 (Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS).
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