中文版 | English
Title

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

Author
Publication Years
2022
DOI
Source Title
ISSN
1557-9948
EISSN
1557-9948
VolumePPIssue:99Pages:1-10
Abstract
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.
Keywords
URL[Source Record]
Language
English
SUSTech Authorship
Others
Scopus EID
2-s2.0-85139395239
Data Source
IEEE
PDF urlhttps://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=9889084
Citation statistics
Cited Times [WOS]:0
Document TypeJournal Article
Identifierhttp://kc.sustech.edu.cn/handle/2SGJ60CL/406096
DepartmentDepartment of Electrical and Electronic Engineering
Affiliation
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
Recommended Citation
GB/T 7714
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.
APA
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.
MLA
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.
Files in This Item:
There are no files associated with this item.
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Export to Excel
Export to Csv
Altmetrics Score
Google Scholar
Similar articles in Google Scholar
[Ziwen Wang]'s Articles
[Baoliang Zhao]'s Articles
[Peng Zhang]'s Articles
Baidu Scholar
Similar articles in Baidu Scholar
[Ziwen Wang]'s Articles
[Baoliang Zhao]'s Articles
[Peng Zhang]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Ziwen Wang]'s Articles
[Baoliang Zhao]'s Articles
[Peng Zhang]'s Articles
Terms of Use
No data!
Social Bookmark/Share
No comment.

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.