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

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

    13 Citations (Scopus)

    Abstract

    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.

    Original languageEnglish
    Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
    Pages5267-5272
    Number of pages6
    DOIs
    Publication statusPublished - 2011
    Event2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai
    Duration: 2011 May 92011 May 13

    Other

    Other2011 IEEE International Conference on Robotics and Automation, ICRA 2011
    CityShanghai
    Period11/5/911/5/13

    Fingerprint

    Visual servoing
    Ultrasonics
    Robots
    Flow measurement
    Robotics
    Blood
    Tissue
    Experiments

    ASJC Scopus subject areas

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

    Cite this

    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. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 5267-5272). [5979594] 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.

    Proceedings - IEEE International Conference on Robotics and Automation. 2011. p. 5267-5272 5979594.

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

    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. in Proceedings - IEEE International Conference on Robotics and Automation., 5979594, pp. 5267-5272, 2011 IEEE International Conference on Robotics and Automation, ICRA 2011, Shanghai, 11/5/9. 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. In Proceedings - IEEE International Conference on Robotics and Automation. 2011. p. 5267-5272. 5979594 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. Proceedings - IEEE International Conference on Robotics and Automation. 2011. pp. 5267-5272
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