期刊
IEEE TRANSACTIONS ON MEDICAL ROBOTICS AND BIONICS
卷 3, 期 4, 页码 948-958出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMRB.2021.3118293
关键词
Medical Robotics; Robot-assisted Imaging; Optical Ultrasound
资金
- Wellcome/EPSRC Centre for Interventional and Surgical Sciences (WEISS) [203145Z/16/Z]
- Wellcome Trust [WT101957]
- Engineering and Physical Sciences Research Council (EPSRC) [NS/A000027/1]
- EPSRC Healthcare Technologies Challenge Award [EP/N021177/1]
- EPSRC [EP/N027078/1, EP/P012841/1, EP/P027938/1, EP/R004080/1, EP/T517793/1]
- Royal Academy of Engineering
- Royal Academy of Engineering Chair in Emerging Technologies Scheme
- Horizon 2020 FET [GA 863146]
- EPSRC-Funded UCL Centre for Doctoral Training in Medical Imaging [EP/L016478/1]
This paper presents a robotic-assisted scanning solution for optical ultrasound probes, utilizing a concentric tube robot to manipulate the probe along a consistent trajectory and maintaining axial orientation using a torque coil. The integration of scanning mechanism with fibre-based imaging probe improves trajectory repeatability and expands diagnostic field of view.
Optical ultrasound, where ultrasound is both generated and received using light, can be integrated in very small diameter instruments making it ideally suited to minimally invasive interventions. One-dimensional information can be obtained using a single pair of optical fibres comprising of a source and detector but this can be difficult to interpret clinically. In this paper, we present a robotic-assisted scanning solution where a concentric tube robot manipulates an optical ultrasound probe along a consistent trajectory. A torque coil is utilized as a buffer between the curved nitinol tube and the probe to prevent torsion on the probe and maintain the axial orientation of the probe while the tube is rotating. The design and control of the scanning mechanism are presented along with the integration of the mechanism with a fibre-based imaging probe. Trajectory repeatability is assessed using electromagnetic tracking and a technique to calibrate the transformation between imaging and robot coordinates using a known model is presented. Finally, we show example images of 3D printed phantoms generated by collecting multiple OpUS A-scans within the same 3D scene to illustrate how robot-assisted scanning can expand the field of view.
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