Co-robotic ultrasound imaging: A cooperative force control approach

Rodolfo Finocchi, Fereshteh Aalamifar, Ting Yun Fang, Russell H Taylor, Emad Boctor

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

Abstract

Ultrasound (US) imaging remains one of the most commonly used imaging modalities in medical practice. However, due to the physical effort required to perform US imaging tasks, 63-91% of ultrasonographers develop musculoskeletal disorders throughout their careers. The goal of this work is to provide ultrasonographers with a system that facilitates and reduces strain in US image acquisition. To this end, we propose a system for admittance force robot control that uses the six-degree-of-freedom UR5 industrial robot. A six-axis force sensor is used to measure the forces and torques applied by the sonographer on the probe. As the sonographer pushes against the US probe, the robot complies with these forces, following the user's desired path. A one-axis load cell is used to measure contact forces between the patient and the probe in real time. When imaging, the robot augments the axial forces applied by the user, lessening the physical effort required. User studies showed an overall decrease in hand tremor while imaging at high forces, improvements in image stability, and a decrease in difficulty and strenuousness.

Original languageEnglish (US)
Title of host publicationMedical Imaging 2017
Subtitle of host publicationImage-Guided Procedures, Robotic Interventions, and Modeling
PublisherSPIE
Volume10135
ISBN (Electronic)9781510607156
DOIs
StatePublished - 2017
EventMedical Imaging 2017: Image-Guided Procedures, Robotic Interventions, and Modeling - Orlando, United States
Duration: Feb 14 2017Feb 16 2017

Other

OtherMedical Imaging 2017: Image-Guided Procedures, Robotic Interventions, and Modeling
CountryUnited States
CityOrlando
Period2/14/172/16/17

Fingerprint

Physical Exertion
approach control
Force control
Robotics
robotics
Ultrasonography
Ultrasonics
Imaging techniques
Torque
Tremor
robots
Robots
Hand
probes
Industrial robots
Image acquisition
robot control
tremors
electrical impedance
torque

Keywords

  • Admittance control
  • Collaborative robot control
  • Force sensing
  • Robotic ultrasound
  • Ultrasound imaging

ASJC Scopus subject areas

  • Atomic and Molecular Physics, and Optics
  • Electronic, Optical and Magnetic Materials
  • Biomaterials
  • Radiology Nuclear Medicine and imaging

Cite this

Finocchi, R., Aalamifar, F., Fang, T. Y., Taylor, R. H., & Boctor, E. (2017). Co-robotic ultrasound imaging: A cooperative force control approach. In Medical Imaging 2017: Image-Guided Procedures, Robotic Interventions, and Modeling (Vol. 10135). [1013510] SPIE. https://doi.org/10.1117/12.2255271

Co-robotic ultrasound imaging : A cooperative force control approach. / Finocchi, Rodolfo; Aalamifar, Fereshteh; Fang, Ting Yun; Taylor, Russell H; Boctor, Emad.

Medical Imaging 2017: Image-Guided Procedures, Robotic Interventions, and Modeling. Vol. 10135 SPIE, 2017. 1013510.

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

Finocchi, R, Aalamifar, F, Fang, TY, Taylor, RH & Boctor, E 2017, Co-robotic ultrasound imaging: A cooperative force control approach. in Medical Imaging 2017: Image-Guided Procedures, Robotic Interventions, and Modeling. vol. 10135, 1013510, SPIE, Medical Imaging 2017: Image-Guided Procedures, Robotic Interventions, and Modeling, Orlando, United States, 2/14/17. https://doi.org/10.1117/12.2255271
Finocchi R, Aalamifar F, Fang TY, Taylor RH, Boctor E. Co-robotic ultrasound imaging: A cooperative force control approach. In Medical Imaging 2017: Image-Guided Procedures, Robotic Interventions, and Modeling. Vol. 10135. SPIE. 2017. 1013510 https://doi.org/10.1117/12.2255271
Finocchi, Rodolfo ; Aalamifar, Fereshteh ; Fang, Ting Yun ; Taylor, Russell H ; Boctor, Emad. / Co-robotic ultrasound imaging : A cooperative force control approach. Medical Imaging 2017: Image-Guided Procedures, Robotic Interventions, and Modeling. Vol. 10135 SPIE, 2017.
@inproceedings{ff724c5f33b948509bb266db38dad616,
title = "Co-robotic ultrasound imaging: A cooperative force control approach",
abstract = "Ultrasound (US) imaging remains one of the most commonly used imaging modalities in medical practice. However, due to the physical effort required to perform US imaging tasks, 63-91{\%} of ultrasonographers develop musculoskeletal disorders throughout their careers. The goal of this work is to provide ultrasonographers with a system that facilitates and reduces strain in US image acquisition. To this end, we propose a system for admittance force robot control that uses the six-degree-of-freedom UR5 industrial robot. A six-axis force sensor is used to measure the forces and torques applied by the sonographer on the probe. As the sonographer pushes against the US probe, the robot complies with these forces, following the user's desired path. A one-axis load cell is used to measure contact forces between the patient and the probe in real time. When imaging, the robot augments the axial forces applied by the user, lessening the physical effort required. User studies showed an overall decrease in hand tremor while imaging at high forces, improvements in image stability, and a decrease in difficulty and strenuousness.",
keywords = "Admittance control, Collaborative robot control, Force sensing, Robotic ultrasound, Ultrasound imaging",
author = "Rodolfo Finocchi and Fereshteh Aalamifar and Fang, {Ting Yun} and Taylor, {Russell H} and Emad Boctor",
year = "2017",
doi = "10.1117/12.2255271",
language = "English (US)",
volume = "10135",
booktitle = "Medical Imaging 2017",
publisher = "SPIE",

}

TY - GEN

T1 - Co-robotic ultrasound imaging

T2 - A cooperative force control approach

AU - Finocchi, Rodolfo

AU - Aalamifar, Fereshteh

AU - Fang, Ting Yun

AU - Taylor, Russell H

AU - Boctor, Emad

PY - 2017

Y1 - 2017

N2 - Ultrasound (US) imaging remains one of the most commonly used imaging modalities in medical practice. However, due to the physical effort required to perform US imaging tasks, 63-91% of ultrasonographers develop musculoskeletal disorders throughout their careers. The goal of this work is to provide ultrasonographers with a system that facilitates and reduces strain in US image acquisition. To this end, we propose a system for admittance force robot control that uses the six-degree-of-freedom UR5 industrial robot. A six-axis force sensor is used to measure the forces and torques applied by the sonographer on the probe. As the sonographer pushes against the US probe, the robot complies with these forces, following the user's desired path. A one-axis load cell is used to measure contact forces between the patient and the probe in real time. When imaging, the robot augments the axial forces applied by the user, lessening the physical effort required. User studies showed an overall decrease in hand tremor while imaging at high forces, improvements in image stability, and a decrease in difficulty and strenuousness.

AB - Ultrasound (US) imaging remains one of the most commonly used imaging modalities in medical practice. However, due to the physical effort required to perform US imaging tasks, 63-91% of ultrasonographers develop musculoskeletal disorders throughout their careers. The goal of this work is to provide ultrasonographers with a system that facilitates and reduces strain in US image acquisition. To this end, we propose a system for admittance force robot control that uses the six-degree-of-freedom UR5 industrial robot. A six-axis force sensor is used to measure the forces and torques applied by the sonographer on the probe. As the sonographer pushes against the US probe, the robot complies with these forces, following the user's desired path. A one-axis load cell is used to measure contact forces between the patient and the probe in real time. When imaging, the robot augments the axial forces applied by the user, lessening the physical effort required. User studies showed an overall decrease in hand tremor while imaging at high forces, improvements in image stability, and a decrease in difficulty and strenuousness.

KW - Admittance control

KW - Collaborative robot control

KW - Force sensing

KW - Robotic ultrasound

KW - Ultrasound imaging

UR - http://www.scopus.com/inward/record.url?scp=85020443229&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85020443229&partnerID=8YFLogxK

U2 - 10.1117/12.2255271

DO - 10.1117/12.2255271

M3 - Conference contribution

AN - SCOPUS:85020443229

VL - 10135

BT - Medical Imaging 2017

PB - SPIE

ER -