Co-robotic ultrasound tomography: Dual arm setup and error analysis

Fereshteh Aalamifar; Dengrong Jiang; Haichong K. Zhang; Alexis Cheng; Xiaoyu Guo; Rishabh Khurana; Iulian Iordachita; Emad M. Boctor

doi:10.1117/12.2084529

Co-robotic ultrasound tomography: Dual arm setup and error analysis

Fereshteh Aalamifar, Dengrong Jiang, Haichong K. Zhang, Alexis Cheng, Xiaoyu Guo, Rishabh Khurana, Iulian Iordachita, Emad M. Boctor

School of Medicine

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

6 Scopus citations

Abstract

Ultrasound (US) tomography enables quantitative measurement of acoustic properties. Robot assisted ultrasound tomography system enables alignment of two US probes. The alignment is done automatically by the robotic arm so that tomographic reconstruction of more anatomies becomes possible. In this study, we propose a new system setup for robot assistance in US tomographic imaging. This setup includes two robotic arms holding two US probes. One of the robotic arms is operated by the sonographer to determine the desired location for the tomographic imaging; this probe can also provide the B-mode US image during the search. The other robotic arm can then move automatically to align the two probes. One of the probes will act as transmitter and the other one as receiver to enable tomographic imaging. We provide an overview of the system setup and components together with the calibration procedures. In an attempt to provide a complete framework for the tomography system, we also provide a sample tomographic reconstruction method that can reconstruct speed of sound image using two aligned linear US probes. The reconstruction algorithm is however very prone to alignment inaccuracies.We provide an error propagation analysis to provide an estimation of the overall alignment error and then show the effect of the in-plane translational error in the tomographic reconstruction.

Original language	English (US)
Title of host publication	Medical Imaging 2015
Subtitle of host publication	Ultrasonic Imaging and Tomography
Editors	Neb Duric, Johan G. Bosch
Publisher	SPIE
ISBN (Electronic)	9781628415094
DOIs	https://doi.org/10.1117/12.2084529
State	Published - 2015
Event	Medical Imaging 2015: Ultrasonic Imaging and Tomography - Orlando, United States Duration: Feb 22 2015 → Feb 23 2015

Publication series

Name	Progress in Biomedical Optics and Imaging - Proceedings of SPIE
Volume	9419
ISSN (Print)	1605-7422

Other

Other	Medical Imaging 2015: Ultrasonic Imaging and Tomography
Country/Territory	United States
City	Orlando
Period	2/22/15 → 2/23/15

ASJC Scopus subject areas

Electronic, Optical and Magnetic Materials
Atomic and Molecular Physics, and Optics
Radiology Nuclear Medicine and imaging
Biomaterials

Access to Document

10.1117/12.2084529

Cite this

Aalamifar, F., Jiang, D., Zhang, H. K., Cheng, A., Guo, X., Khurana, R., Iordachita, I., & Boctor, E. M. (2015). Co-robotic ultrasound tomography: Dual arm setup and error analysis. In N. Duric, & J. G. Bosch (Eds.), Medical Imaging 2015: Ultrasonic Imaging and Tomography Article 94190N (Progress in Biomedical Optics and Imaging - Proceedings of SPIE; Vol. 9419). SPIE. https://doi.org/10.1117/12.2084529

Co-robotic ultrasound tomography: Dual arm setup and error analysis. / Aalamifar, Fereshteh; Jiang, Dengrong; Zhang, Haichong K. et al.
Medical Imaging 2015: Ultrasonic Imaging and Tomography. ed. / Neb Duric; Johan G. Bosch. SPIE, 2015. 94190N (Progress in Biomedical Optics and Imaging - Proceedings of SPIE; Vol. 9419).

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

Aalamifar, F, Jiang, D, Zhang, HK, Cheng, A, Guo, X, Khurana, R, Iordachita, I & Boctor, EM 2015, Co-robotic ultrasound tomography: Dual arm setup and error analysis. in N Duric & JG Bosch (eds), Medical Imaging 2015: Ultrasonic Imaging and Tomography., 94190N, Progress in Biomedical Optics and Imaging - Proceedings of SPIE, vol. 9419, SPIE, Medical Imaging 2015: Ultrasonic Imaging and Tomography, Orlando, United States, 2/22/15. https://doi.org/10.1117/12.2084529

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AB - Ultrasound (US) tomography enables quantitative measurement of acoustic properties. Robot assisted ultrasound tomography system enables alignment of two US probes. The alignment is done automatically by the robotic arm so that tomographic reconstruction of more anatomies becomes possible. In this study, we propose a new system setup for robot assistance in US tomographic imaging. This setup includes two robotic arms holding two US probes. One of the robotic arms is operated by the sonographer to determine the desired location for the tomographic imaging; this probe can also provide the B-mode US image during the search. The other robotic arm can then move automatically to align the two probes. One of the probes will act as transmitter and the other one as receiver to enable tomographic imaging. We provide an overview of the system setup and components together with the calibration procedures. In an attempt to provide a complete framework for the tomography system, we also provide a sample tomographic reconstruction method that can reconstruct speed of sound image using two aligned linear US probes. The reconstruction algorithm is however very prone to alignment inaccuracies.We provide an error propagation analysis to provide an estimation of the overall alignment error and then show the effect of the in-plane translational error in the tomographic reconstruction.

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Co-robotic ultrasound tomography: Dual arm setup and error analysis

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