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.

Preview

Text OpUS_Scanning_Mechanism.pdf - Accepted Version Download (5MB) | Preview

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.

Download activity - last month

Export as XMLCSVJSON

Download activity - last 12 months

Export as JSONCSVXML

Downloads by country - last 12 months

Export as CSVXMLJSON

Archive Staff Only

View Item