Co-robotic ultrasound tomography: Dual arm setup and error analysis

Fereshteh Aalamifar, Dengrong Jiang, Haichong K. Zhang, Alexis Cheng, Xiaoyu Guo, Rishabh Khurana, Iulian Iordachita, Emad M. Boctor

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


Ultrasound (US) tomography enables quantitative measurement of acoustic properties. Robot assisted ultrasound tomography system enables alignment of two US probes. The alignment is done automatically by the robotic arm so that tomographic reconstruction of more anatomies becomes possible. In this study, we propose a new system setup for robot assistance in US tomographic imaging. This setup includes two robotic arms holding two US probes. One of the robotic arms is operated by the sonographer to determine the desired location for the tomographic imaging; this probe can also provide the B-mode US image during the search. The other robotic arm can then move automatically to align the two probes. One of the probes will act as transmitter and the other one as receiver to enable tomographic imaging. We provide an overview of the system setup and components together with the calibration procedures. In an attempt to provide a complete framework for the tomography system, we also provide a sample tomographic reconstruction method that can reconstruct speed of sound image using two aligned linear US probes. The reconstruction algorithm is however very prone to alignment inaccuracies.We provide an error propagation analysis to provide an estimation of the overall alignment error and then show the effect of the in-plane translational error in the tomographic reconstruction.

Original languageEnglish (US)
Title of host publicationMedical Imaging 2015
Subtitle of host publicationUltrasonic Imaging and Tomography
EditorsNeb Duric, Johan G. Bosch
ISBN (Electronic)9781628415094
StatePublished - Jan 1 2015
EventMedical Imaging 2015: Ultrasonic Imaging and Tomography - Orlando, United States
Duration: Feb 22 2015Feb 23 2015

Publication series

NameProgress in Biomedical Optics and Imaging - Proceedings of SPIE
ISSN (Print)1605-7422


OtherMedical Imaging 2015: Ultrasonic Imaging and Tomography
Country/TerritoryUnited States

ASJC Scopus subject areas

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


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