Robotic-assisted ultrasound for fetal imaging: Evolution from single-arm to dual-arm system

Shuangyi Wang; James Housden; Yohan Noh; Davinder Singh; Anisha Singh; Emily Skelton; Jacqueline Matthew; Cornelius Tan; Junghwan Back; Lukas Lindenroth; Alberto Gomez; Nicolas Toussaint; Veronika Zimmer; Caroline Knight; Tara Fletcher; David Lloyd; John Simpson; Dharmintra Pasupathy; Hongbin Liu; Kaspar Althoefer; Joseph Hajnal; Reza Razavi; Kawal Rhode

doi:10.1007/978-3-030-25332-5_3

Robotic-assisted ultrasound for fetal imaging: Evolution from single-arm to dual-arm system

Shuangyi Wang^*, James Housden, Yohan Noh, Davinder Singh, Anisha Singh, Emily Skelton, Jacqueline Matthew, Cornelius Tan, Junghwan Back, Lukas Lindenroth, Alberto Gomez, Nicolas Toussaint, Veronika Zimmer, Caroline Knight, Tara Fletcher, David Lloyd, John Simpson, Dharmintra Pasupathy, Hongbin Liu, Kaspar AlthoeferJoseph Hajnal, Reza Razavi, Kawal Rhode

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

10 Citations (Scopus)

Abstract

The development of robotic-assisted extracorporeal ultrasound systems has a long history and a number of projects have been proposed since the 1990s focusing on different technical aspects. These aim to resolve the deficiencies of on-site manual manipulation of hand-held ultrasound probes. This paper presents the recent ongoing developments of a series of bespoke robotic systems, including both single-arm and dual-arm versions, for a project known as intelligent Fetal Imaging and Diagnosis (iFIND). After a brief review of the development history of the extracorporeal ultrasound robotic system used for fetal and abdominal examinations, the specific aim of the iFIND robots, the design evolution, the implementation details of each version, and the initial clinical feedback of the iFIND robot series are presented. Based on the preliminary testing of these newly-proposed robots on 42 volunteers, the successful and reliable working of the mechatronic systems were validated. Analysis of a participant questionnaire indicates a comfortable scanning experience for the volunteers and a good acceptance rate to being scanned by the robots.

Original language	English
Title of host publication	Towards Autonomous Robotic Systems - 20th Annual Conference, TAROS 2019, Proceedings
Editors	Kaspar Althoefer, Jelizaveta Konstantinova, Ketao Zhang
Publisher	Springer Verlag
Pages	27-38
Number of pages	12
ISBN (Print)	9783030253318
DOIs	https://doi.org/10.1007/978-3-030-25332-5_3
Publication status	Published - 2019
Externally published	Yes
Event	20th Towards Autonomous Robotic Systems Conference, TAROS 2019 - London, United Kingdom Duration: 3 Jul 2019 → 5 Jul 2019

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	11650 LNAI
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	20th Towards Autonomous Robotic Systems Conference, TAROS 2019
Country/Territory	United Kingdom
City	London
Period	3/07/19 → 5/07/19

Bibliographical note

Funding Information:
This work was supported by the Welcome Trust IEH Award [102431] and by the Wellcome/EPSRC Centre for Medical Engineering [WT203148/Z/16/Z]. The authors acknowledge financial support from the Department of Health via the National Institute for Health Research (NIHR) comprehensive Biomedical Research Centre award to Guy's & St Thomas' NHS Foundation Trust in partnership with King's College London and King's College Hospital NHS Foundation Trust.

Funding Information:
Acknowledgements. This work was supported by the Welcome Trust IEH Award [102431] and by the Wellcome/EPSRC Centre for Medical Engineering [WT203148/Z/16/Z]. The authors acknowledge financial support from the Department of Health via the National Institute for Health Research (NIHR) comprehensive Biomedical Research Centre award to Guy’s & St Thomas’ NHS Foundation Trust in partnership with King’s College London and King’s College Hospital NHS Foundation Trust.

Funding Information:
Originally introduced by Gourdon et al. [9] and Arbeille et al. [10], a cage-like probe holder containing a robotic wrist was designed for abdominal examination. The configuration of this robot is unique as it does not include any translational axes, and was instead held in position manually at the region of scanning. The wrist incorporated three rotational axes with a unique remote-centre-of-motion mechanism, allowing a remote ultrasound expert to orient the probe locally. Supported by the European Space Agency (ESA), the projects TERESA [11] and ESTELE [12] have largely tested the proposed robot on transabdominal obstetrical and abdominal examinations for remote diagnosis. The OTELO project, developed by multiple partners within the European Union, utilized similar rotational mechanisms from the previous ESA-funded projects but added additional active translational axes to the design. The emphasis was on light weight and portability when used for general ultrasound examination [13, 14]. The research with this 6-DOF robot included a wide range of topics, such as teleoperation, kinematics, automatic control laws, and ergonomic control.

Publisher Copyright:
© Springer Nature Switzerland AG 2019.

Access to Document

10.1007/978-3-030-25332-5_3

Cite this

Wang, S., Housden, J., Noh, Y., Singh, D., Singh, A., Skelton, E., Matthew, J., Tan, C., Back, J., Lindenroth, L., Gomez, A., Toussaint, N., Zimmer, V., Knight, C., Fletcher, T., Lloyd, D., Simpson, J., Pasupathy, D., Liu, H., ... Rhode, K. (2019). Robotic-assisted ultrasound for fetal imaging: Evolution from single-arm to dual-arm system. In K. Althoefer, J. Konstantinova, & K. Zhang (Eds.), Towards Autonomous Robotic Systems - 20th Annual Conference, TAROS 2019, Proceedings (pp. 27-38). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 11650 LNAI). Springer Verlag. https://doi.org/10.1007/978-3-030-25332-5_3

Wang, Shuangyi ; Housden, James ; Noh, Yohan ; Singh, Davinder ; Singh, Anisha ; Skelton, Emily ; Matthew, Jacqueline ; Tan, Cornelius ; Back, Junghwan ; Lindenroth, Lukas ; Gomez, Alberto ; Toussaint, Nicolas ; Zimmer, Veronika ; Knight, Caroline ; Fletcher, Tara ; Lloyd, David ; Simpson, John ; Pasupathy, Dharmintra ; Liu, Hongbin ; Althoefer, Kaspar ; Hajnal, Joseph ; Razavi, Reza ; Rhode, Kawal. / Robotic-assisted ultrasound for fetal imaging : Evolution from single-arm to dual-arm system. Towards Autonomous Robotic Systems - 20th Annual Conference, TAROS 2019, Proceedings. editor / Kaspar Althoefer ; Jelizaveta Konstantinova ; Ketao Zhang. Springer Verlag, 2019. pp. 27-38 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

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abstract = "The development of robotic-assisted extracorporeal ultrasound systems has a long history and a number of projects have been proposed since the 1990s focusing on different technical aspects. These aim to resolve the deficiencies of on-site manual manipulation of hand-held ultrasound probes. This paper presents the recent ongoing developments of a series of bespoke robotic systems, including both single-arm and dual-arm versions, for a project known as intelligent Fetal Imaging and Diagnosis (iFIND). After a brief review of the development history of the extracorporeal ultrasound robotic system used for fetal and abdominal examinations, the specific aim of the iFIND robots, the design evolution, the implementation details of each version, and the initial clinical feedback of the iFIND robot series are presented. Based on the preliminary testing of these newly-proposed robots on 42 volunteers, the successful and reliable working of the mechatronic systems were validated. Analysis of a participant questionnaire indicates a comfortable scanning experience for the volunteers and a good acceptance rate to being scanned by the robots.",

author = "Shuangyi Wang and James Housden and Yohan Noh and Davinder Singh and Anisha Singh and Emily Skelton and Jacqueline Matthew and Cornelius Tan and Junghwan Back and Lukas Lindenroth and Alberto Gomez and Nicolas Toussaint and Veronika Zimmer and Caroline Knight and Tara Fletcher and David Lloyd and John Simpson and Dharmintra Pasupathy and Hongbin Liu and Kaspar Althoefer and Joseph Hajnal and Reza Razavi and Kawal Rhode",

note = "Funding Information: This work was supported by the Welcome Trust IEH Award [102431] and by the Wellcome/EPSRC Centre for Medical Engineering [WT203148/Z/16/Z]. The authors acknowledge financial support from the Department of Health via the National Institute for Health Research (NIHR) comprehensive Biomedical Research Centre award to Guy's & St Thomas' NHS Foundation Trust in partnership with King's College London and King's College Hospital NHS Foundation Trust. Funding Information: Acknowledgements. This work was supported by the Welcome Trust IEH Award [102431] and by the Wellcome/EPSRC Centre for Medical Engineering [WT203148/Z/16/Z]. The authors acknowledge financial support from the Department of Health via the National Institute for Health Research (NIHR) comprehensive Biomedical Research Centre award to Guy{\textquoteright}s & St Thomas{\textquoteright} NHS Foundation Trust in partnership with King{\textquoteright}s College London and King{\textquoteright}s College Hospital NHS Foundation Trust. Funding Information: Originally introduced by Gourdon et al. [9] and Arbeille et al. [10], a cage-like probe holder containing a robotic wrist was designed for abdominal examination. The configuration of this robot is unique as it does not include any translational axes, and was instead held in position manually at the region of scanning. The wrist incorporated three rotational axes with a unique remote-centre-of-motion mechanism, allowing a remote ultrasound expert to orient the probe locally. Supported by the European Space Agency (ESA), the projects TERESA [11] and ESTELE [12] have largely tested the proposed robot on transabdominal obstetrical and abdominal examinations for remote diagnosis. The OTELO project, developed by multiple partners within the European Union, utilized similar rotational mechanisms from the previous ESA-funded projects but added additional active translational axes to the design. The emphasis was on light weight and portability when used for general ultrasound examination [13, 14]. The research with this 6-DOF robot included a wide range of topics, such as teleoperation, kinematics, automatic control laws, and ergonomic control. Publisher Copyright: {\textcopyright} Springer Nature Switzerland AG 2019.; 20th Towards Autonomous Robotic Systems Conference, TAROS 2019 ; Conference date: 03-07-2019 Through 05-07-2019",

year = "2019",

doi = "10.1007/978-3-030-25332-5_3",

language = "English",

isbn = "9783030253318",

series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",

publisher = "Springer Verlag",

pages = "27--38",

editor = "Kaspar Althoefer and Jelizaveta Konstantinova and Ketao Zhang",

booktitle = "Towards Autonomous Robotic Systems - 20th Annual Conference, TAROS 2019, Proceedings",

}

Wang, S, Housden, J, Noh, Y, Singh, D, Singh, A, Skelton, E, Matthew, J, Tan, C, Back, J, Lindenroth, L, Gomez, A, Toussaint, N, Zimmer, V, Knight, C, Fletcher, T, Lloyd, D, Simpson, J, Pasupathy, D, Liu, H, Althoefer, K, Hajnal, J, Razavi, R & Rhode, K 2019, Robotic-assisted ultrasound for fetal imaging: Evolution from single-arm to dual-arm system. in K Althoefer, J Konstantinova & K Zhang (eds), Towards Autonomous Robotic Systems - 20th Annual Conference, TAROS 2019, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 11650 LNAI, Springer Verlag, pp. 27-38, 20th Towards Autonomous Robotic Systems Conference, TAROS 2019, London, United Kingdom, 3/07/19. https://doi.org/10.1007/978-3-030-25332-5_3

Robotic-assisted ultrasound for fetal imaging : Evolution from single-arm to dual-arm system. / Wang, Shuangyi; Housden, James; Noh, Yohan; Singh, Davinder; Singh, Anisha; Skelton, Emily; Matthew, Jacqueline; Tan, Cornelius; Back, Junghwan; Lindenroth, Lukas; Gomez, Alberto; Toussaint, Nicolas; Zimmer, Veronika; Knight, Caroline; Fletcher, Tara; Lloyd, David; Simpson, John; Pasupathy, Dharmintra; Liu, Hongbin; Althoefer, Kaspar; Hajnal, Joseph; Razavi, Reza; Rhode, Kawal.

Towards Autonomous Robotic Systems - 20th Annual Conference, TAROS 2019, Proceedings. ed. / Kaspar Althoefer; Jelizaveta Konstantinova; Ketao Zhang. Springer Verlag, 2019. p. 27-38 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 11650 LNAI).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Robotic-assisted ultrasound for fetal imaging

T2 - 20th Towards Autonomous Robotic Systems Conference, TAROS 2019

AU - Wang, Shuangyi

AU - Housden, James

AU - Noh, Yohan

AU - Singh, Davinder

AU - Singh, Anisha

AU - Skelton, Emily

AU - Matthew, Jacqueline

AU - Tan, Cornelius

AU - Back, Junghwan

AU - Lindenroth, Lukas

AU - Gomez, Alberto

AU - Toussaint, Nicolas

AU - Zimmer, Veronika

AU - Knight, Caroline

AU - Fletcher, Tara

AU - Lloyd, David

AU - Simpson, John

AU - Pasupathy, Dharmintra

AU - Liu, Hongbin

AU - Althoefer, Kaspar

AU - Hajnal, Joseph

AU - Razavi, Reza

AU - Rhode, Kawal

N1 - Funding Information: This work was supported by the Welcome Trust IEH Award [102431] and by the Wellcome/EPSRC Centre for Medical Engineering [WT203148/Z/16/Z]. The authors acknowledge financial support from the Department of Health via the National Institute for Health Research (NIHR) comprehensive Biomedical Research Centre award to Guy's & St Thomas' NHS Foundation Trust in partnership with King's College London and King's College Hospital NHS Foundation Trust. Funding Information: Acknowledgements. This work was supported by the Welcome Trust IEH Award [102431] and by the Wellcome/EPSRC Centre for Medical Engineering [WT203148/Z/16/Z]. The authors acknowledge financial support from the Department of Health via the National Institute for Health Research (NIHR) comprehensive Biomedical Research Centre award to Guy’s & St Thomas’ NHS Foundation Trust in partnership with King’s College London and King’s College Hospital NHS Foundation Trust. Funding Information: Originally introduced by Gourdon et al. [9] and Arbeille et al. [10], a cage-like probe holder containing a robotic wrist was designed for abdominal examination. The configuration of this robot is unique as it does not include any translational axes, and was instead held in position manually at the region of scanning. The wrist incorporated three rotational axes with a unique remote-centre-of-motion mechanism, allowing a remote ultrasound expert to orient the probe locally. Supported by the European Space Agency (ESA), the projects TERESA [11] and ESTELE [12] have largely tested the proposed robot on transabdominal obstetrical and abdominal examinations for remote diagnosis. The OTELO project, developed by multiple partners within the European Union, utilized similar rotational mechanisms from the previous ESA-funded projects but added additional active translational axes to the design. The emphasis was on light weight and portability when used for general ultrasound examination [13, 14]. The research with this 6-DOF robot included a wide range of topics, such as teleoperation, kinematics, automatic control laws, and ergonomic control. Publisher Copyright: © Springer Nature Switzerland AG 2019.

PY - 2019

Y1 - 2019

N2 - The development of robotic-assisted extracorporeal ultrasound systems has a long history and a number of projects have been proposed since the 1990s focusing on different technical aspects. These aim to resolve the deficiencies of on-site manual manipulation of hand-held ultrasound probes. This paper presents the recent ongoing developments of a series of bespoke robotic systems, including both single-arm and dual-arm versions, for a project known as intelligent Fetal Imaging and Diagnosis (iFIND). After a brief review of the development history of the extracorporeal ultrasound robotic system used for fetal and abdominal examinations, the specific aim of the iFIND robots, the design evolution, the implementation details of each version, and the initial clinical feedback of the iFIND robot series are presented. Based on the preliminary testing of these newly-proposed robots on 42 volunteers, the successful and reliable working of the mechatronic systems were validated. Analysis of a participant questionnaire indicates a comfortable scanning experience for the volunteers and a good acceptance rate to being scanned by the robots.

AB - The development of robotic-assisted extracorporeal ultrasound systems has a long history and a number of projects have been proposed since the 1990s focusing on different technical aspects. These aim to resolve the deficiencies of on-site manual manipulation of hand-held ultrasound probes. This paper presents the recent ongoing developments of a series of bespoke robotic systems, including both single-arm and dual-arm versions, for a project known as intelligent Fetal Imaging and Diagnosis (iFIND). After a brief review of the development history of the extracorporeal ultrasound robotic system used for fetal and abdominal examinations, the specific aim of the iFIND robots, the design evolution, the implementation details of each version, and the initial clinical feedback of the iFIND robot series are presented. Based on the preliminary testing of these newly-proposed robots on 42 volunteers, the successful and reliable working of the mechatronic systems were validated. Analysis of a participant questionnaire indicates a comfortable scanning experience for the volunteers and a good acceptance rate to being scanned by the robots.

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DO - 10.1007/978-3-030-25332-5_3

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SN - 9783030253318

T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

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BT - Towards Autonomous Robotic Systems - 20th Annual Conference, TAROS 2019, Proceedings

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Wang S, Housden J, Noh Y, Singh D, Singh A, Skelton E et al. Robotic-assisted ultrasound for fetal imaging: Evolution from single-arm to dual-arm system. In Althoefer K, Konstantinova J, Zhang K, editors, Towards Autonomous Robotic Systems - 20th Annual Conference, TAROS 2019, Proceedings. Springer Verlag. 2019. p. 27-38. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). https://doi.org/10.1007/978-3-030-25332-5_3

Robotic-assisted ultrasound for fetal imaging: Evolution from single-arm to dual-arm system

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