Ziwen Wang;Yingying Han;Baoliang Zhao;Haiqin Xie;Liang Yao;Bing Li;Max Q.-H. Meng;Ying Hu
{"title":"Autonomous Robotic System for Carotid Artery Ultrasound Scanning With Visual Servo Navigation","authors":"Ziwen Wang;Yingying Han;Baoliang Zhao;Haiqin Xie;Liang Yao;Bing Li;Max Q.-H. Meng;Ying Hu","doi":"10.1109/TMRB.2024.3464109","DOIUrl":null,"url":null,"abstract":"Ultrasound (US) examination is widely used to diagnose carotid artery plaque, which requires the sonographer to guide the probe to scan along a specific path for complete coverage of the carotid artery region. Meanwhile, stable probe-neck interaction is important for high-quality image acquisition. In this study, a robotic system for autonomous carotid US scanning is proposed. To realize the autonomous visual servo movement of the probe, an object tracking method based on improved Siamese network is proposed. Meanwhile, a local quality assessment algorithm is proposed to ensure that carotid ultrasound images are clear and desirable for diagnosis. To address the issue of poor probe-neck contact and loss of carotid object during ultrasound scanning, an automatic recovery control method is proposed to ensure the continuity of the scanning process without the need to stop and restart the scanning. Experimental results show that the robotic system can successfully navigate the probe to move along a path that meets the clinical standard. In addition, the robot can autonomously rediscover the object and return to the normal scanning state if a stuck condition occurs.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":"6 4","pages":"1436-1447"},"PeriodicalIF":3.4000,"publicationDate":"2024-09-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE transactions on medical robotics and bionics","FirstCategoryId":"1085","ListUrlMain":"https://ieeexplore.ieee.org/document/10684288/","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"ENGINEERING, BIOMEDICAL","Score":null,"Total":0}
引用次数: 0
Abstract
Ultrasound (US) examination is widely used to diagnose carotid artery plaque, which requires the sonographer to guide the probe to scan along a specific path for complete coverage of the carotid artery region. Meanwhile, stable probe-neck interaction is important for high-quality image acquisition. In this study, a robotic system for autonomous carotid US scanning is proposed. To realize the autonomous visual servo movement of the probe, an object tracking method based on improved Siamese network is proposed. Meanwhile, a local quality assessment algorithm is proposed to ensure that carotid ultrasound images are clear and desirable for diagnosis. To address the issue of poor probe-neck contact and loss of carotid object during ultrasound scanning, an automatic recovery control method is proposed to ensure the continuity of the scanning process without the need to stop and restart the scanning. Experimental results show that the robotic system can successfully navigate the probe to move along a path that meets the clinical standard. In addition, the robot can autonomously rediscover the object and return to the normal scanning state if a stuck condition occurs.
超声波(US)检查被广泛用于诊断颈动脉斑块,这需要超声波技师引导探头沿着特定路径扫描,以完全覆盖颈动脉区域。同时,探头与颈部的稳定互动对于获取高质量图像非常重要。本研究提出了一种用于自主颈动脉 US 扫描的机器人系统。为实现探头的自主视觉伺服运动,提出了一种基于改进型连体网络的目标跟踪方法。同时,还提出了一种局部质量评估算法,以确保颈动脉超声图像的清晰度和诊断效果。针对超声扫描过程中探头与颈部接触不良和颈动脉物体丢失的问题,提出了一种自动恢复控制方法,以确保扫描过程的连续性,而无需停止和重新启动扫描。实验结果表明,机器人系统可以成功地引导探头沿着符合临床标准的路径移动。此外,如果出现卡住的情况,机器人还能自主地重新发现物体,并返回正常的扫描状态。