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.
|Title of host publication||Towards Autonomous Robotic Systems - 20th Annual Conference, TAROS 2019, Proceedings|
|Editors||Kaspar Althoefer, Jelizaveta Konstantinova, Ketao Zhang|
|Number of pages||12|
|Publication status||Published - 2019|
|Event||20th Towards Autonomous Robotic Systems Conference, TAROS 2019 - London, United Kingdom|
Duration: 3 Jul 2019 → 5 Jul 2019
|Name||Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)|
|Conference||20th Towards Autonomous Robotic Systems Conference, TAROS 2019|
|Period||3/07/19 → 5/07/19|
Bibliographical noteFunding Information:
Paper approved by the Editor for Communication Networks of the IEEE Communications Society. Manuscript received November 12, 1989; revised April 8,1991 and September 11, 1991. This work was supported by the Naval Research Laboratory under Contract NOOO14-86-C-2056. This paper was presented at the 1988 IEEE Military Communications Conference (MILCOM '88), San Diego, CA, October 23-26, 1988. Some additional work was presented at the 1989 IEEE Military Communications Conference (MILCOM '89), Boston, MA, October 15-18, 1989. M. D. Noakes was with Harris Corporation, Melbourne, FL. He is now with the Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA 02139. J. B. Cain and J. W. Nieto are with Harris Corporation, Melbourne, FL 32902. E.L. Althouse is with the Naval Research Laboratory, Washington, DC 20375. IEEE Log Number 9209506.
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