Towards fully automated robotic platform for remote auscultation
Towards fully automated robotic platform for remote auscultation
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DOI：
10.1002/rcs.2461
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发表时间：
2022-10-10
影响因子：
2.5
通讯作者：
Yoshinaka, Kiyoshi
中科院分区：
文献类型：
--
作者：
Tsumura, Ryosuke;Koseki, Yoshihiko;Yoshinaka, Kiyoshi
背景由于出生率下降和人口老龄化，大多数发达国家面临着每个医护人员的患者数量增加的问题，可能需要使用机器人和自动化技术来执行相对简单和安全的诊断任务，而不需要专家和医院。这项研究提出了一个用于远程听诊的自动化机器人平台，这是一种用于检测异常临床体征的高性价比筛查工具。方法所研制的机器人平台由6自由度协作机械臂、LiDAR摄像机和支撑电动听诊器的弹簧机构组成。该平台能够基于基于LiDAR摄像头的多路配准获取的外部身体信息来自主定位听诊器；该平台还确保了安全灵活的接触，通过被动驱动机构将接触力保持在一定范围内。结果我们的初步结果证实，机器人平台能够根据体表的深度和地标信息来估计心脏检查所需的着陆位置。它还可以处理听诊器，同时保持接触力，而不依赖机械臂的推入位移。结论研制的机器人平台能够在保持接触力的情况下，估计听诊器的落地位置和操作听诊器，为自动远程听诊奠定了基础。
Background Since most developed countries are facing an increase in the number of patients per healthcare worker due to a declining birth rate and an ageing population, relatively simple and safe diagnosis tasks may need to be performed using robotics and automation technologies, without specialists and hospitals. This study presents an automated robotic platform for remote auscultation, which is a highly cost-effective screening tool for detecting abnormal clinical signs. Method The developed robotic platform is composed of a 6-degree-of-freedom cooperative robotic arm, LiDAR camera, and a spring-based mechanism holding an electric stethoscope. The platform enables autonomous stethoscope positioning based on external body information acquired using the LiDAR camera-based multi-way registration; the platform also ensures safe and flexible contact, maintaining the contact force within a certain range through the passive-actuated mechanism. Results Our preliminary results confirm that the robotic platform enables estimation of the landing positions required for cardiac examinations based on the depth and landmark information of the body surface. It also handles the stethoscope while maintaining the contact force without relying on the push-in displacement by the robotic arm. Conclusion The developed robotic platform enables the estimation of the landing positions and handling the stethoscope while maintaining the contact force, which promises the potential of automatic remote auscultation.