eprintid: 10139771
rev_number: 13
eprint_status: archive
userid: 608
dir: disk0/10/13/97/71
datestamp: 2021-12-07 16:22:55
lastmod: 2021-12-07 16:22:55
status_changed: 2021-12-07 16:22:55
type: article
metadata_visibility: show
creators_name: Dwyer, G
creators_name: Alles, EJ
creators_name: Colchester, RJ
creators_name: Iyengar, K
creators_name: E Desjardins, A
creators_name: Stoyanov, D
title: Robot-assisted Optical Ultrasound Scanning
ispublished: pub
divisions: UCL
divisions: B04
divisions: C05
divisions: F48
divisions: F42
keywords: Medical Robotics,
Robot-assisted Imaging,
Optical Ultrasound
note: This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions.
abstract: Optical ultrasound, where ultrasound is both generated and received using light, can be integrated in very small diameter instruments making it ideally suited to minimally invasive interventions. One-dimensional information can be obtained using a single pair of optical fibres comprising of a source and detector but this can be difficult to interpret clinically. In this paper, we present a robotic-assisted scanning solution where a concentric tube robot manipulates an optical ultrasound probe along a consistent trajectory. A torque coil is utilised as a buffer between the curved nitinol tube and the probe to prevent torsion on the probe and maintain the axial orientation of the probe while the tube is rotating. The design and control of the scanning mechanism are presented along with the integration of the mechanism with a fibre-based imaging probe. Trajectory repeatability is assessed using electromagnetic tracking and a technique to calibrate the transformation between imaging and robot coordinates using a known model is presented. Finally, we show example images of 3D printed phantoms generated by collecting multiple OpUS A-scans within the same 3D scene to illustrate how robot-assisted scanning can expand the field of view.
date: 2021-11
date_type: published
official_url: https://doi.org/10.1109/TMRB.2021.3118293
oa_status: green
full_text_type: other
language: eng
primo: open
primo_central: open_green
verified: verified_manual
elements_id: 1902447
doi: 10.1109/TMRB.2021.3118293
lyricists_name: Alles, Erwin
lyricists_name: Colchester, Richard
lyricists_name: Desjardins, Adrien
lyricists_name: Dwyer, George
lyricists_name: Iyengar, Keshav
lyricists_name: Stoyanov, Danail
lyricists_id: EJALL00
lyricists_id: COLCH20
lyricists_id: AEDES16
lyricists_id: GDWYE41
lyricists_id: KKIYE80
lyricists_id: DSTOY26
actors_name: Dwyer, George
actors_id: GDWYE41
actors_role: owner
full_text_status: public
publication: IEEE Transactions on Medical Robotics and Bionics
volume: 3
number: 4
pagerange: 948-958
citation:        Dwyer, G;    Alles, EJ;    Colchester, RJ;    Iyengar, K;    E Desjardins, A;    Stoyanov, D;      (2021)    Robot-assisted Optical Ultrasound Scanning.                   IEEE Transactions on Medical Robotics and Bionics , 3  (4)   pp. 948-958.    10.1109/TMRB.2021.3118293 <https://doi.org/10.1109/TMRB.2021.3118293>.       Green open access   
 
document_url: https://discovery.ucl.ac.uk/id/eprint/10139771/1/OpUS_Scanning_Mechanism.pdf