Development of robotic system for autonomous liver screening using ultrasound scanning device

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

    11 Citations (Scopus)

    Abstract

    Physicians use ultrasound scans to do diagnosis by making real-time images of internal organs, because such scans are safe, inexpensive, and non-invasive. However, aging society and limited numbers of physician make it difficult for patients in remote areas to be diagnosed. Besides, physician's technical skills affect the interpretation of the scans and thus the results of the examination. Thus, development of a robotic system for remote diagnosis is required to solve the problems. For this purpose, we proposed the development of a robotic system for automatic ultrasound imaging focusing on human liver. In this paper, we present several elements developed for the robotic system. First element is an algorithm for estimating the position of liver to guide the probe to scan initial position which is the epigastric region. Second element is ultrasound probe scanning protocol design to obtain whole image of the liver. Third element is force control algorithm to maintain the contact between the probe and human body even though the patient is breathing. Fourth element is an algorithm for detecting and correcting the probe's position when improper ultrasound images occurred. These algorithms with an implementation program control the apparatus: a Mitsubishi Electric's MELFA RV-1 six axis manipulator and tested on human subjects. The results confirmed the effectiveness of the approach.

    Original languageEnglish
    Title of host publication2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013
    PublisherIEEE Computer Society
    Pages804-809
    Number of pages6
    DOIs
    Publication statusPublished - 2013
    Event2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013 - Shenzhen
    Duration: 2013 Dec 122013 Dec 14

    Other

    Other2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013
    CityShenzhen
    Period13/12/1213/12/14

    Fingerprint

    Robotics
    Liver
    Screening
    Ultrasonics
    Scanning
    Equipment and Supplies
    Physicians
    Force control
    Human Body
    Manipulators
    Ultrasonography
    Respiration
    Aging of materials
    Imaging techniques

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Computer Science Applications
    • Biotechnology

    Cite this

    Mustafa, A. S. B., Ishii, T., Matsunaga, Y., Nakadate, R., Ishii, H., Ogawa, K., ... Takanishi, A. (2013). Development of robotic system for autonomous liver screening using ultrasound scanning device. In 2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013 (pp. 804-809). [6739561] IEEE Computer Society. https://doi.org/10.1109/ROBIO.2013.6739561

    Development of robotic system for autonomous liver screening using ultrasound scanning device. / Mustafa, Ammar Safwan Bin; Ishii, Takashi; Matsunaga, Yoshiki; Nakadate, Ryu; Ishii, Hiroyuki; Ogawa, Kouji; Saito, Akiko; Sugawara, Motoaki; Niki, Kiyomi; Takanishi, Atsuo.

    2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013. IEEE Computer Society, 2013. p. 804-809 6739561.

    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, Development of robotic system for autonomous liver screening using ultrasound scanning device. in 2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013., 6739561, IEEE Computer Society, pp. 804-809, 2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013, Shenzhen, 13/12/12. https://doi.org/10.1109/ROBIO.2013.6739561
    Mustafa ASB, Ishii T, Matsunaga Y, Nakadate R, Ishii H, Ogawa K et al. Development of robotic system for autonomous liver screening using ultrasound scanning device. In 2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013. IEEE Computer Society. 2013. p. 804-809. 6739561 https://doi.org/10.1109/ROBIO.2013.6739561
    Mustafa, Ammar Safwan Bin ; Ishii, Takashi ; Matsunaga, Yoshiki ; Nakadate, Ryu ; Ishii, Hiroyuki ; Ogawa, Kouji ; Saito, Akiko ; Sugawara, Motoaki ; Niki, Kiyomi ; Takanishi, Atsuo. / Development of robotic system for autonomous liver screening using ultrasound scanning device. 2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013. IEEE Computer Society, 2013. pp. 804-809
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    AU - Ogawa, Kouji

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