Krupa, Alexandre and Folio, David and Novales, Cyril and Vieyres, Pierre and Li, Tao


This paper presents a robotized tele-echography system with an assisting visibility mode that helps the medical expert diagnosis. This autonomous mode is based on a multitask control approach that maintains the visibility of an anatomic element of interest while the medical expert tele-operates a 2D ultrasound probe held by a 4-DoF robot. The main task is used to automatically maintain several visual constraints that guarantee an intersection between the US image plane and the organ of interest. A secondary task allows the medical expert to manually apply the probe motion through the tele-operation mode. The main advantage of this approach is to give to the clinician the control of all the degrees of freedom of the probe to examine the patient while automatically preserving the visibility of the organ of interest when required. Experimental results, performed on a phantom and human abdomen, demonstrate the efficiency of the visibility assistance task



  title = {Robotized Tele-Echography: an Assisting Visibility Tool to Support Expert Diagnostic},
  author = {Krupa, Alexandre and Folio, David and Novales, Cyril and Vieyres, Pierre and Li, Tao},
  journal = {IEEE Systems Journal},
  year = {2016},
  month = apr,
  pages = {974-983},
  volume = {10},
  doi = {10.1109/JSYST.2014.2314773},
  hal = {00986875},
  ieeexplore = {6808404},
  issn = {1932-8184},
  keywords = {biomedical ultrasonics, control engineering computing, medical expert systems, medical image processing, medical robotics, robot vision, telerobotics, 2D ultrasound probe, 4-degrees-of-freedom robot, OI, US image plane, anatomic element visibility, autonomous mode, medical expert diagnosis, medical expert teleoperation, multitask control, organ of interest, probe motion application, robotized tele-echography system, teleoperation mode, visibility tool, Haptic interfaces, Kinematics, Medical diagnostic imaging, Probes, Robot sensing systems, Robotized tele-echography, ultrasound (US)-based visual servoing, visibility constraints}