Out-of-plane visual servoing method for tracking the carotid artery with a robot-assisted ultrasound diagnostic system

Ryu Nakadate, Jorge Solis, Atsuo Takanishi, Eiichi Minagawa, Motoaki Sugawara, Kiyomi Niki

研究成果: 著書/レポートタイプへの貢献会議での発言

13 引用 (Scopus)

抄録

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 Women's 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.

元の言語英語
ホスト出版物のタイトル2011 IEEE International Conference on Robotics and Automation, ICRA 2011
ページ5267-5272
ページ数6
DOI
出版物ステータス出版済み - 12 1 2011
イベント2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, 中国
継続期間: 5 9 20115 13 2011

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
ISSN(印刷物)1050-4729

その他

その他2011 IEEE International Conference on Robotics and Automation, ICRA 2011
中国
Shanghai
期間5/9/115/13/11

Fingerprint

Visual servoing
Ultrasonics
Robots
Flow measurement
Robotics
Blood
Tissue
Experiments

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

これを引用

Nakadate, R., Solis, J., Takanishi, A., Minagawa, E., Sugawara, M., & Niki, K. (2011). Out-of-plane visual servoing method for tracking the carotid artery with a robot-assisted ultrasound diagnostic system. : 2011 IEEE International Conference on Robotics and Automation, ICRA 2011 (pp. 5267-5272). [5979594] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ICRA.2011.5979594

Out-of-plane visual servoing method for tracking the carotid artery with a robot-assisted ultrasound diagnostic system. / Nakadate, Ryu; Solis, Jorge; Takanishi, Atsuo; Minagawa, Eiichi; Sugawara, Motoaki; Niki, Kiyomi.

2011 IEEE International Conference on Robotics and Automation, ICRA 2011. 2011. p. 5267-5272 5979594 (Proceedings - IEEE International Conference on Robotics and Automation).

研究成果: 著書/レポートタイプへの貢献会議での発言

Nakadate, R, Solis, J, Takanishi, A, Minagawa, E, Sugawara, M & Niki, K 2011, Out-of-plane visual servoing method for tracking the carotid artery with a robot-assisted ultrasound diagnostic system. : 2011 IEEE International Conference on Robotics and Automation, ICRA 2011., 5979594, Proceedings - IEEE International Conference on Robotics and Automation, pp. 5267-5272, 2011 IEEE International Conference on Robotics and Automation, ICRA 2011, Shanghai, 中国, 5/9/11. https://doi.org/10.1109/ICRA.2011.5979594
Nakadate R, Solis J, Takanishi A, Minagawa E, Sugawara M, Niki K. Out-of-plane visual servoing method for tracking the carotid artery with a robot-assisted ultrasound diagnostic system. : 2011 IEEE International Conference on Robotics and Automation, ICRA 2011. 2011. p. 5267-5272. 5979594. (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ICRA.2011.5979594
Nakadate, Ryu ; Solis, Jorge ; Takanishi, Atsuo ; Minagawa, Eiichi ; Sugawara, Motoaki ; Niki, Kiyomi. / Out-of-plane visual servoing method for tracking the carotid artery with a robot-assisted ultrasound diagnostic system. 2011 IEEE International Conference on Robotics and Automation, ICRA 2011. 2011. pp. 5267-5272 (Proceedings - IEEE International Conference on Robotics and Automation).
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