Co-robotic synthetic tracked aperture ultrasound imaging with cross-correlation based dynamic error compensation and virtual fixture control

Haichong K. Zhang, Rodolfo Finocchi, Kalyna Apkarian, Emad Boctor

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

Abstract

Acquiring high resolution images in deep regions is challenging in ultrasound imaging due to limited probe aperture size and low transmit frequency usage. The concept of synthetic tracked aperture ultrasound (STRATUS) imaging is introduced to extend the effective aperture size by moving the probe while accurately tracking its orientation and translation. Based on the synthetic aperture technique, sub-apertures from each pose can be synthesized to construct a high-resolution image. In particular, we propose a mechanical tracking configuration using a 6 degree-of-freedom (DOF) robotic arm with force sensors that not only provides a robust tracking accuracy, but also enables co-operative control. The ultrasound probe is moved by an operator, while a virtual fixture uses force feedback of the robotic arm to constrain the motion to be on a desired plane or trajectory. Furthermore, we developed an algorithm to mitigate the potential errors between consecutive poses, such as tracking inaccuracy, tissue deformation, and phase aberration. Those errors were extracted by computing subtle image shift through cross-correlation for all neighboring poses, and the procedure is dynamically applied to the entire image. Comparing the STRATUS image to a conventional single pose image, the full width at the half maximum (FWHM) of a point target located at a depth of around 85 mm improved from 3.13 mm to 2.78 mm, and SNR improved from 28.96 dB to 30.27 dB. In addition, the dynamic error compensation further improved the FWHM and SNR to be 1.15 mm and 33.17 dB, respectively. The results proved the feasibility of the co-robotic STRATUS imaging, and dynamic error compensation improved the system's tolerance to errors.

Original languageEnglish (US)
Title of host publication2016 IEEE International Ultrasonics Symposium, IUS 2016
PublisherIEEE Computer Society
Volume2016-November
ISBN (Electronic)9781467398978
DOIs
StatePublished - Nov 1 2016
Event2016 IEEE International Ultrasonics Symposium, IUS 2016 - Tours, France
Duration: Sep 18 2016Sep 21 2016

Other

Other2016 IEEE International Ultrasonics Symposium, IUS 2016
CountryFrance
CityTours
Period9/18/169/21/16

Fingerprint

fixtures
robotics
cross correlation
apertures
robot arms
probes
synthetic apertures
high resolution
aberration
degrees of freedom
trajectories
low frequencies
operators
shift
sensors
configurations

Keywords

  • Cooperative Robot Control
  • Synthetic Aperture
  • Ultrasound Imaging
  • Virtual Fixtures

ASJC Scopus subject areas

  • Acoustics and Ultrasonics

Cite this

Zhang, H. K., Finocchi, R., Apkarian, K., & Boctor, E. (2016). Co-robotic synthetic tracked aperture ultrasound imaging with cross-correlation based dynamic error compensation and virtual fixture control. In 2016 IEEE International Ultrasonics Symposium, IUS 2016 (Vol. 2016-November). [7728522] IEEE Computer Society. https://doi.org/10.1109/ULTSYM.2016.7728522

Co-robotic synthetic tracked aperture ultrasound imaging with cross-correlation based dynamic error compensation and virtual fixture control. / Zhang, Haichong K.; Finocchi, Rodolfo; Apkarian, Kalyna; Boctor, Emad.

2016 IEEE International Ultrasonics Symposium, IUS 2016. Vol. 2016-November IEEE Computer Society, 2016. 7728522.

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

Zhang, HK, Finocchi, R, Apkarian, K & Boctor, E 2016, Co-robotic synthetic tracked aperture ultrasound imaging with cross-correlation based dynamic error compensation and virtual fixture control. in 2016 IEEE International Ultrasonics Symposium, IUS 2016. vol. 2016-November, 7728522, IEEE Computer Society, 2016 IEEE International Ultrasonics Symposium, IUS 2016, Tours, France, 9/18/16. https://doi.org/10.1109/ULTSYM.2016.7728522
Zhang HK, Finocchi R, Apkarian K, Boctor E. Co-robotic synthetic tracked aperture ultrasound imaging with cross-correlation based dynamic error compensation and virtual fixture control. In 2016 IEEE International Ultrasonics Symposium, IUS 2016. Vol. 2016-November. IEEE Computer Society. 2016. 7728522 https://doi.org/10.1109/ULTSYM.2016.7728522
Zhang, Haichong K. ; Finocchi, Rodolfo ; Apkarian, Kalyna ; Boctor, Emad. / Co-robotic synthetic tracked aperture ultrasound imaging with cross-correlation based dynamic error compensation and virtual fixture control. 2016 IEEE International Ultrasonics Symposium, IUS 2016. Vol. 2016-November IEEE Computer Society, 2016.
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