Full Coverage Path Planning and Stable Interaction Control for Automated Robotic Breast Ultrasound Scanning

Ziwen Wang1; Baoliang Zhao2; Peng Zhang2; Liang Yao2; Qiong Wang2; Bing Li1; Max Q.-H. Meng3; Ying Hu2

2022

10.1109/TIE.2022.3204967

IEEE Transactions on Industrial Electronics   Impact Factor & Quartile

1557-9948

1557-9948

Ultrasound examination is widely used for diagnosis of breast cancer, which requires a full-coverage scan of the whole organ and stable probe-breast interaction for high-quality image acquisition. In this study, a robotic system for automated breast ultrasound scanning is proposed. To avoid occlusion, point cloud of the breast is obtained from multiple angles and registered together for accurate tissue shape reconstruction, then scan path planning is performed with isometric 3-D point cloud searching algorithm for full and uniform coverage. To reduce the adverse influence of large tissue deformation during ultrasound scanning, a contact force-strain regression model is built for tissue deformation estimation and used as a feedforward to correct the planned scanning path, and a probe-tissue interaction model with scanning resistance is built for normal probe orientation adjustment. To maintain normal probe orientation and stable contact force during robotic ultrasound scanning, a hybrid force-velocity control framework is proposed based on admittance control algorithm. Experiment results show that the robotic system can successfully maintain a constant contact force and keep the probe's posture along the normal orientation of probe-breast interaction both in in-plane direction and out-of-plane direction.

ultrasound robot ultrasound scanning breast deformation path planning interaction control

English

Others

ENGINEERING

2-s2.0-85139395239

IEEE

1.Harbin Institute of Technology, Shenzhen, Shenzhen, China
2.Pazhou Lab, Guangzhou, China
3.Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China

Ziwen Wang,Baoliang Zhao,Peng Zhang,et al. Full Coverage Path Planning and Stable Interaction Control for Automated Robotic Breast Ultrasound Scanning[J]. IEEE Transactions on Industrial Electronics,2022,PP(99):1-10.

Ziwen Wang.,Baoliang Zhao.,Peng Zhang.,Liang Yao.,Qiong Wang.,...&Ying Hu.(2022).Full Coverage Path Planning and Stable Interaction Control for Automated Robotic Breast Ultrasound Scanning.IEEE Transactions on Industrial Electronics,PP(99),1-10.

Ziwen Wang,et al."Full Coverage Path Planning and Stable Interaction Control for Automated Robotic Breast Ultrasound Scanning".IEEE Transactions on Industrial Electronics PP.99(2022):1-10.