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Robotic ultrasound scanning for deep venous thrombosis detection using RGB-D sensor
Meng, Bo; Liu, Jingxin; Cao, Lei
作者部门机器人学研究室
会议名称2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
会议日期June 8-12, 2015
会议地点Shenyang, China
会议录名称2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
出版者IEEE
出版地Piscataway, NJ, USA
2015
页码482-486
收录类别CPCI(ISTP)
WOS记录号WOS:000380502300093
产权排序2
ISSN号2379-7711
ISBN号978-1-4799-8730-6
关键词Robot-assisted Ultrasound Scanning Deep Venous Thrombosis Detection Depth Image
摘要This paper proposes a novel robotic US scanning system to scan the lower limbs of the patient for Deep Venous Thrombosis (DVT) detection. The system is composed of a robotic arm, a linear US probe with marker, and an RGB-D as a vision servo. The robot follows the navigation of the RGB-D sensor and scans the legs automatically. Kinect is chosen here to obtain the 3D images of legs and probe. The legs are segmented in RGB images and depth images real-time. The probe's position and orientation are registered according to the marker. The distance between the probe and the scanned leg is calculated every frame for safely scanning without force sensor. Both phantom and human leg platforms with robot and US probe and Kinect were built up and scan experiments were carried out. The transformation matrixes between two legs, depth imaging, Kinect and US probe coordinate systems, were obtained. The distances between probe and leg was calculated. Results from the initial experiment indicate the idea is feasible and promising greatly by improving the inspection efficiently. Clinically, the method can be implemented for pre-operative procedures to predict the risk of DVT, and this may improve the US scanning efficacy.
语种英语
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被引频次:2[WOS]   [WOS记录]     [WOS相关记录]
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/18516
专题机器人学研究室
作者单位1.School of Information Engineering, Northeast Dianli Univerisity
2.No.3 Hospital Affiliated to Jilin University
3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences
4.The University of Chinese Academy of Sciences
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Meng, Bo,Liu, Jingxin,Cao, Lei. Robotic ultrasound scanning for deep venous thrombosis detection using RGB-D sensor[C]. Piscataway, NJ, USA:IEEE,2015:482-486.
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