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Robotic Arm Based Automatic Ultrasound Scanning for Three-Dimensional Imaging
Huang, Qinghua1,2; Lan, Jiulong3; Li, Xuelong4
Department光学影像学习与分析中心
2019-02
Source PublicationIEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS
ISSN1551-3203;1941-0050
Volume15Issue:2Pages:1173–1182
Contribution Rank4
Abstract

This paper presents a human skin inspired automatic robotic ultrasound (US) system for three-dimensional (3-D) imaging. A depth camera was adopted to capture the point cloud of the skin surface. According to the 3-D contour of the skin surface, the scan range and scan path for the US probe could be automatically determined. Then, we used a normal-vector-based method to determine the pose of the robotic arm corresponding to each scan point in the scan path. In addition, two force sensors could feedback the contact force between the scanned tissue and the emission plane of the probe for fine-tuning the pose of the robotic arm. After the scanning, the system could realize 3-D US reconstruction. Experimental results validate the feasibility of the proposed system. It is expected that the proposed system will be useful in clinical practices.

KeywordAutomatic scanning robotic 3-D ultrasound robotic arm scan path planning
DOI10.1109/TII.2018.2871864
Indexed BySCI
Language英语
WOS IDWOS:000458199000053
PublisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Citation statistics
Cited Times:4[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.opt.ac.cn/handle/181661/31194
Collection光学影像学习与分析中心
Corresponding AuthorHuang, Qinghua
Affiliation1.Northwestern Polytech Univ, Sch Mech Engn, Xian 710072, Shaanxi, Peoples R China
2.Northwestern Polytech Univ, Ctr Opt IMagery Anal & Learning OPTIMAL, Xian 710072, Peoples R China
3.South China Univ Technol, Sch Elect & Informat Engn, Guangzhou 510006, Guangdong, Peoples R China
4.Chinese Acad Sci, Xian Inst Opt & Precis Mech, Xian 710119, Shaanxi, Peoples R China
Recommended Citation
GB/T 7714
Huang, Qinghua,Lan, Jiulong,Li, Xuelong. Robotic Arm Based Automatic Ultrasound Scanning for Three-Dimensional Imaging[J]. IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS,2019,15(2):1173–1182.
APA Huang, Qinghua,Lan, Jiulong,&Li, Xuelong.(2019).Robotic Arm Based Automatic Ultrasound Scanning for Three-Dimensional Imaging.IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS,15(2),1173–1182.
MLA Huang, Qinghua,et al."Robotic Arm Based Automatic Ultrasound Scanning for Three-Dimensional Imaging".IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS 15.2(2019):1173–1182.
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