design-implementation-bespoke-robotic-manipulator-for-extra-corporeal

Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound

With the potential for high precision, dexterity, and repeatability, a self-tracked robotic system can be employed to assist the acquisition of real-time ...

King's College London

Trans-oesophageal echocardiography (TOE) has been widely utilized for cardiac disease diagnosis and interventional procedure guidance. However, the TOE operator is required to manually manipulate the probe, often for long periods of time and sometimes in an X-ray environment where there is exposure to ionizing radiation.

Design, testing and modelling of a novel robotic system for trans-oesophageal ultrasound.

In recent years, 3D trans-oesophageal echocardiography (TOE) has become widely used for monitoring cardiac interventions. The control of the TOE probe during the procedure is a manual task which is tedious and harmful for the operator when exposed to radiation. To improve this technique, an add-on robotic system has been developed for holding and manipulating a commercial TOE probe. This paper focuses on the probe adjustment strategy in order to accurately monitor the moving intra-operative catheters. The positioning strategy is divided into an initialization step based on a pre-planning method, and a localized adjustment step based on the robotic differential kinematics. A series of experiments was performed to evaluate the initialization and the localized adjustment steps. The results indicate a mean error less than 10 mm from the phantom experiments for the initialization step, and a median error less than 1.5 mm from the computer-based simulation experiments for the localized adjustment step. Compared to the much bigger image volume, it is concluded that the proposed methods are feasible for this application. Future work will focus on evaluating the method in a more realistic TOE scanning scenario.

Shuangyi Wang

School of Biomedical Engineering & Imaging Sciences

King's College London

Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound

Shuangyi Wang

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King's College London

Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound

School of Biomedical Engineering & Imaging Sciences