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Robotic-Assisted Ultrasound for Fetal Imaging: Evolution from Single-Arm to Dual-Arm System

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Abstract

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.

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Acknowledgements

This work was supported by the Welcome Trust IEH Award [102431] and by the Wellcome/EPSRC Centre for Medical Engineering [WT203148/Z/16/Z]. The authors acknowledge financial support from the Department of Health via the National Institute for Health Research (NIHR) comprehensive Biomedical Research Centre award to Guy’s & St Thomas’ NHS Foundation Trust in partnership with King’s College London and King’s College Hospital NHS Foundation Trust.

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Authors and Affiliations

  1. School of Biomedical Engineering & Imaging Sciences, King’s College London, London, UK

    Shuangyi Wang, James Housden, Yohan Noh, Cornelius Tan, Alberto Gomez, Nicolas Toussaint, Veronika Zimmer, Joseph Hajnal, Reza Razavi & Kawal Rhode

  2. Xtronics Ltd., Gravesend, UK

    Davinder Singh & Anisha Singh

  3. Women’s Ultrasound Guy’s and St Thomas’ NHS Foundation Trust, London, UK

    Emily Skelton, Jacqueline Matthew & Tara Fletcher

  4. Department of Informatics, King’s College London, London, UK

    Junghwan Back, Lukas Lindenroth & Hongbin Liu

  5. Division of Women’s Health, Fetal Medicine Unit, Guy’s and St Thomas’ NHS Foundation Trust, Women’s Health Academic Centre, King’s Health Partners, London, UK

    Caroline Knight & Dharmintra Pasupathy

  6. Fetal Cardiology, Evelina Children’s Hospital, London, UK

    David Lloyd & John Simpson

  7. Faculty of Science and Engineering, Queen Mary University of London, London, UK

    Kaspar Althoefer

Authors
  1. Shuangyi Wang

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  2. James Housden

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  3. Yohan Noh

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  4. Davinder Singh

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  5. Anisha Singh

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  6. Emily Skelton

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  7. Jacqueline Matthew

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  8. Cornelius Tan

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  9. Junghwan Back

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  10. Lukas Lindenroth

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  11. Alberto Gomez

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  12. Nicolas Toussaint

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  13. Veronika Zimmer

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  14. Caroline Knight

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  15. Tara Fletcher

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  16. David Lloyd

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  17. John Simpson

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  18. Dharmintra Pasupathy

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  19. Hongbin Liu

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  20. Kaspar Althoefer

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  21. Joseph Hajnal

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  22. Reza Razavi

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  23. Kawal Rhode

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Corresponding author

Correspondence toShuangyi Wang.

Editor information

Editors and Affiliations

  1. Queen Mary University of London, London, UK

    Kaspar Althoefer

  2. Queen Mary University of London, London, UK

    Jelizaveta Konstantinova

  3. Queen Mary University of London, London, UK

    Ketao Zhang

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Cite this paper

Wang, S.et al. (2019). Robotic-Assisted Ultrasound for Fetal Imaging: Evolution from Single-Arm to Dual-Arm System. In: Althoefer, K., Konstantinova, J., Zhang, K. (eds) Towards Autonomous Robotic Systems. TAROS 2019. Lecture Notes in Computer Science(), vol 11650. Springer, Cham. https://doi.org/10.1007/978-3-030-25332-5_3

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