Patient-mounted Robot for 2D Ultrasound Probe Scanning using McKibben Artificial Muscles
Patient-mounted Robot for 2D Ultrasound Probe Scanning using McKibben Artificial Muscles
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DOI：
10.14326/abe.3.130
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发表时间：
2014
影响因子：
1
通讯作者：
S. Onogi;Jiawei Wu;T. Yoshida;K. Masuda
中科院分区：
文献类型：
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作者：
S. Onogi;Jiawei Wu;T. Yoshida;K. Masuda
在本文中，我们描述了一种机器人超声（US）探头扫描系统，用于减少US技术人员的手动任务，并协助介入手术。该系统包括一个探头扫描机器人，使用麦吉本阿尔蒂社会肌肉，光学跟踪设备，和内部软件的体积重建和手术工具的自动引导。由于使用了阿尔蒂肌，所提出的系统重量轻且安全，并且允许通过US校准的变换来对B扫描平面进行位置控制。我们将机器人系统应用于机器人三维（3D）超声和自动超声引导。为了阐明该系统的可行性，我们进行了体模和人体肝脏体积重建，以及针引导。通过与参考回波图的互相关和重建体积的重新切片来验证重建的体积质量。体模的相关值为0.80 ± 0.06，人体肝脏的相关值为0.53 ± 0.06。关于针引导，我们确认B扫描平面自动跟随针。平移误差为−0.10 ± 1.26 mm，旋转误差为−0.22 ± 1.81度。频率响应分析证实，该系统能够稳定地跟随频率小于0.3 Hz的运动。实验结果表明，机器人探头扫描系统具有很大的潜力，产生可接受的三维体积使用二维（2D）超声和辅助介入手术在美国的指导下。
In this paper, we describe a robotic ultrasound (US) probe scanning system for reducing the manual tasks of US technicians and assisting in interventional procedures. The system consists of a probe scanning robot that uses McKibben arti cial muscles, an optical tracking device, and in-house software for volume reconstruction and automatic guidance of surgical tools. The proposed system is lightweight and safe due to the use of arti cial muscles, and allows positional control of the B-scan plane through transformation of US calibration. We applied the robotic system to robotic three-dimensional (3D) ultrasound and automatic ultrasound guidance. To clarify the system’s feasibility, we performed phantom and human liver volume reconstructions, as well as needle guidance. The volume qualities of the reconstruction were validated by cross-correlation with reference echograms and reslicing of the reconstructed volumes. The correlation values were 0.80 ± 0.06 for the phantom and 0.53 ± 0.06 for the human liver. Regarding needle guidance, we con rmed that the B-scan plane automatically followed the needle. The translation error was −0.10 ± 1.26 mm and rotation error was −0.22 ± 1.81 degrees. Analysis of frequency response con rmed that the system was able to stably follow a motion at frequencies less than 0.3 Hz. The experimental results demonstrate that the robotic probe scanning system has great potential for yielding acceptable 3D volumes using two-dimensional (2D) ultrasound and assisting interventional procedures under US guidance.