TY - GEN
T1 - A three-dimensional quasi-static ultrasound strain imaging system using a 6-DoF robotic arm
AU - Yao, Jianan
AU - Huang, Qinghua
AU - Li, Xuelong
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/7
Y1 - 2019/7
N2 - Three-dimensional ultrasonic elastic imaging is a new medical imaging technology, which aims to obtain the elastic information of human tissues and detect pathological tissues. This paper presents a 3D quasi-static ultrasound strain imaging system using a 6-DoF robotic arm. We use the robotic arm, which has 6-DoF, to control an ultrasound probe to acquire pre-deformed and post-deformed radio frequency (RF) image frames. We use a Kinect to obtain point clouds information on the surface of tissues. Then, according to the three-dimensional contour of marker pasted in the tissue, the scanning region and path can be automatically determined. Then a method based on the method vector is used to determine the attitude of the robot arm so that the probe can be perpendicular to the plane of the scanned tissues. The result of phantom and human experiments shows that the system we proposed can create high-quality 3D quasi-static ultrasound strain images. It is expected that the system we proposed has great prospects for clinical application.
AB - Three-dimensional ultrasonic elastic imaging is a new medical imaging technology, which aims to obtain the elastic information of human tissues and detect pathological tissues. This paper presents a 3D quasi-static ultrasound strain imaging system using a 6-DoF robotic arm. We use the robotic arm, which has 6-DoF, to control an ultrasound probe to acquire pre-deformed and post-deformed radio frequency (RF) image frames. We use a Kinect to obtain point clouds information on the surface of tissues. Then, according to the three-dimensional contour of marker pasted in the tissue, the scanning region and path can be automatically determined. Then a method based on the method vector is used to determine the attitude of the robot arm so that the probe can be perpendicular to the plane of the scanned tissues. The result of phantom and human experiments shows that the system we proposed can create high-quality 3D quasi-static ultrasound strain images. It is expected that the system we proposed has great prospects for clinical application.
KW - Automatic scanning
KW - Quasi-static ultrasound imaging
KW - Robotic arm
KW - Robotic Three-Dimensional ultrasound
UR - http://www.scopus.com/inward/record.url?scp=85073217583&partnerID=8YFLogxK
U2 - 10.1109/ICARM.2019.8833905
DO - 10.1109/ICARM.2019.8833905
M3 - 会议稿件
AN - SCOPUS:85073217583
T3 - 2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019
SP - 238
EP - 243
BT - 2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019
Y2 - 3 July 2019 through 5 July 2019
ER -