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 publicationProceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
    Pages4855-4858
    Number of pages4
    DOIs
    Publication statusPublished - 2013
    Event2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2013 - Osaka
    Duration: 2013 Jul 32013 Jul 7

    Other

    Other2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2013
    CityOsaka
    Period13/7/313/7/7

    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

    ASJC Scopus subject areas

    • Computer Vision and Pattern Recognition
    • Signal Processing
    • Biomedical Engineering
    • 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 Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS (pp. 4855-4858). [6610635] 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.

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

    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 Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS., 6610635, pp. 4855-4858, 2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2013, Osaka, 13/7/3. 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 Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS. 2013. p. 4855-4858. 6610635 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. Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS. 2013. pp. 4855-4858
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