Autonomous Robotic Ultrasound System for Liver Follow-up Diagnosis: Pilot Phantom Study
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arXiv
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| Main Authors: | , , , , , , |
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| Format: | Preprint |
| Published: |
2024
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| _version_ | 1866910440319090688 |
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| author | Zhang, Tianpeng Kim, Sekeun Charton, Jerome Ma, Haitong Kim, Kyungsang Li, Na Li, Quanzheng |
| author_facet | Zhang, Tianpeng Kim, Sekeun Charton, Jerome Ma, Haitong Kim, Kyungsang Li, Na Li, Quanzheng |
| contents | The paper introduces a novel autonomous robot ultrasound (US) system targeting liver follow-up scans for outpatients in local communities. Given a computed tomography (CT) image with specific target regions of interest, the proposed system carries out the autonomous follow-up scan in three steps: (i) initial robot contact to surface, (ii) coordinate mapping between CT image and robot, and (iii) target US scan. Utilizing 3D US-CT registration and deep learning-based segmentation networks, we can achieve precise imaging of 3D hepatic veins, facilitating accurate coordinate mapping between CT and the robot. This enables the automatic localization of follow-up targets within the CT image, allowing the robot to navigate precisely to the target's surface. Evaluation of the ultrasound phantom confirms the quality of the US-CT registration and shows the robot reliably locates the targets in repeated trials. The proposed framework holds the potential to significantly reduce time and costs for healthcare providers, clinicians, and follow-up patients, thereby addressing the increasing healthcare burden associated with chronic disease in local communities. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2405_05787 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Autonomous Robotic Ultrasound System for Liver Follow-up Diagnosis: Pilot Phantom Study Zhang, Tianpeng Kim, Sekeun Charton, Jerome Ma, Haitong Kim, Kyungsang Li, Na Li, Quanzheng Robotics Computer Vision and Pattern Recognition Systems and Control The paper introduces a novel autonomous robot ultrasound (US) system targeting liver follow-up scans for outpatients in local communities. Given a computed tomography (CT) image with specific target regions of interest, the proposed system carries out the autonomous follow-up scan in three steps: (i) initial robot contact to surface, (ii) coordinate mapping between CT image and robot, and (iii) target US scan. Utilizing 3D US-CT registration and deep learning-based segmentation networks, we can achieve precise imaging of 3D hepatic veins, facilitating accurate coordinate mapping between CT and the robot. This enables the automatic localization of follow-up targets within the CT image, allowing the robot to navigate precisely to the target's surface. Evaluation of the ultrasound phantom confirms the quality of the US-CT registration and shows the robot reliably locates the targets in repeated trials. The proposed framework holds the potential to significantly reduce time and costs for healthcare providers, clinicians, and follow-up patients, thereby addressing the increasing healthcare burden associated with chronic disease in local communities. |
| title | Autonomous Robotic Ultrasound System for Liver Follow-up Diagnosis: Pilot Phantom Study |
| topic | Robotics Computer Vision and Pattern Recognition Systems and Control |
| url | https://arxiv.org/abs/2405.05787 |