S. E. Salcudean, G. Bell, S. Bachmann, W.-H. Zhu, P. Abolmaesumi, and P. D. Lawrence, "Robotassisted diagnostic ultrasound - design and feasibility experiments," MICCAI'99, UK, 1999.  Home/Search   Document Details and Download   Summary   Related Articles   Check

....robotic systems such as Aesop and Zeus from Computer Motion, daVinci from Intuitive Surgical, and Robodoc from Integrated Surgical Systems. Several research groups are working on systems for a variety of clinical applications. These include Davies [8 10] and Troccaz [11] Peshkin[12] Salcudean [13], Das [14] and Sheridan [15] As these systems evolve the need for building modular architectures is also becoming evident. Modular architectures have been proposed for industrial automation [16, 17] and integrated, propriety frameworks, such as Picker s Venue system and Surgical Navigation ....

S. E. Salcudean, G. Bell, S. Bachmann, W. H. Zhu, P. Abolmaesumi, and P. D. Lawrence, "Robot-Assisted Diagnostic Ultrasound - Design and Feasibility Experiments," proc. of MICCAI'99, pp. 1062-1071, Cambridge, UK, 1999.

.... University of British Columbia 2356 Main Mall, Vancouver, BC Canada V6T 1Z4 lProfessor and Project Leader (E maih tims ece.ubc.ca) Abstract A fully counter balanced 6 DOF robot for ultrasound carotid artery diagnosis has been developed in the Ro botics and Control Laboratory at UBC [1]. This paper presents the controller design. The controller is basically a velocity controller capable of incorporating position control, force control, and image based control, in terms of shared control principle. Safety issue is deeply concerned in design of the control system. The fully ....

.... incidence of musculoskeletal dis orders have been reported [4] Motivated by the need to alleviate these problems and to present a more ergonomic interface to the sonographer, a teleoperation system for carotid ultrasound diagnosis has been developed in the Robotics and Control Laboratory at UBC [1]. Compared to a digital teleultra sound system for transmitting ultrasound images previ ously developed by Sublett et al. 5] this system allows the sohographer not only to view but also to manipu late the ultrasound transducer (probe) at the remote side. The ability to position the ....

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S. E. Salcudean, G. Bell, S. Bachmann, W.-H. Zhu, P. Abolmaesumi, and P. D. Lawrence, "Robotassisted diagnostic ultrasound - design and feasibility experiments," MICCAI'99, UK, 1999.

....image servoing. Research challenges are discussed in Section 4, where the particular issues that arise in designing human augmentation systems are discussed. Conclusions and plans for future work follow. The proposed robot assisted ultrasound examination system has been discussed before in [11]. In this paper, the control, design and image tracking aspects have been expanded, while other aspects have been omitted. A similar system has been proposed recently in [7] 2 Electromechanical desing 2.1 Ultrasound robot performance An ultrasound transducer was fitted with an electromagnetic ....

....up, while the examiner scans the distal end of the common carotid artery and the proximal ends of the internal and external carotid arteries, both longitudinally and transversely, from the clavicle to the mandible on both the left and right sides of the neck. The measurements are tabulated in [11]. The translation range is less than 15 cm in each direction, while the orientation range is quite well approximated by a right elliptical cone in which the probe must tilt 75 # about the patient s neck axis, and less than 50 about the patient s shoulder axis. The probe must attain all these ....

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S.E.Salcudean, G.Bell, S. Bachmann, W.H. Zhu, P. Abolmaesumi and P.D. Lawrence, "Robot-Assisted Diagnostic Ultrasound - Design and Feasibility Experiments ", MICCAI'99, Second Intl. Conf., pp. 10631071, Cambridge, U.K., Sept. 1999.

....Diagnostic Ultrasound P. Abolmaesumi, S.E. Salcudean and W.H. Zhu The University of British Columbia Department of Electrical and Computer Engineering Vancouver, B.C. Canada, V6T 1Z4 tims ece.ubc.ca Abstract A robot system for positioning an ultrasound probe has been developed [1]. Ultrasound visual servoing can be used to help ultrasound technicians position the ultrasound probe. The feasibility of visual servoing for motion in the plane of the ultrasound probe in one dimension has been addressed here. Tracking of the carotid artery for a long period of time has been ....

.... that they su#er from an unusually high incidence of musculoskeletal disorders (e.g. 2] Motivated initially by the need to alleviate these problems and present a more ergonomic interface to the ultrasound technicians, a teleoperation system for medical ultrasound diagnosis has been developed [1, 3]. Figure 1 shows the experimental setup of the system. The system consists of a master hand controller, a slave manipulator carrying the ultrasound probe, and a computer control system that allows the operator to remotely position the ultrasound transducer relative to the patient s body. The ....

[Article contains additional citation context not shown here]

S. Salcudean, G. Bell, S. Bachmann, W. Zhu, P. Abolmaesumi, and P. Lawrence, "Robotassisted diagnostic ultrasound - design and feasibility experiments," MICCAI'99, Cambridge, England, 1999.

....velocity of all axes of the robot can be controlled by the Magellan mouse. All buttons and sliders in the GUI can be controlled by the keypad of the Magellan mouse. 2. 2 Ultrasound Robot A lightweight robot with limited force capability has been designed for teleoperated ultrasound examinations [12]. The robot moves fast enough to allow ultrasound examination to take place at a pace close to that achieved by the unassisted sonographer. In addition, the robot joints are backdrivable so that the arm can be pushed out of the way if necessary and controlled e#ectively in force mode. During the ....

S.E. Salcudean, G. Bell, S. Bachmann, W.H. Zhu, P. Abolmaesumi, and P.D. Lawrence. Robot-assisted diagnostic ultrasound - design and feasibility experiments. MICCAI'99, Cambridge, UK, September 1999.

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