Enabling technologies for robot assisted ultrasound tomography: system setup and calibration

Fereshteh Aalamifar; Rishabh Khurana; Alexis Cheng; Russell H. Taylor; Iulian Iordachita; Emad M. Boctor

doi:10.1117/12.2045516

22 April 2014 Enabling technologies for robot assisted ultrasound tomography: system setup and calibration

Fereshteh Aalamifar, Rishabh Khurana, Alexis Cheng, Russell H. Taylor, Iulian Iordachita, Emad M. Boctor

Proceedings Volume 9040, Medical Imaging 2014: Ultrasonic Imaging and Tomography; 90401X (2014) https://doi.org/10.1117/12.2045516
Event: SPIE Medical Imaging, 2014, San Diego, California, United States

Abstract

In this study, we are proposing a robot-assisted ultrasound tomography system that can offer soft tissue tomographic imaging and deeper or faster scan of the anatomy. This system consists of a robot-held ultrasound probe that tracks the position of another freehand probe, trying to align with it. One of the major challenges is achieving proper alignment of the two ultrasound probes. To enable proper alignment, two ultrasound calibrations and one hand-eye calibration are required. However, the system functionality and design is such that the ultrasound calibrations have become a challenge. In this paper, after providing an overview of the proposed robotic ultrasound tomography system, we focus on the calibrations problem. The results of the calibrations show a point reconstruction precision of a few millimeters for the current prototype, and the two images have at least 50% overlap visually; confirming the feasibility of such a system relying on accurate probe alignments.

Citation Download Citation

Fereshteh Aalamifar, Rishabh Khurana, Alexis Cheng, Russell H. Taylor, Iulian Iordachita, and Emad M. Boctor "Enabling technologies for robot assisted ultrasound tomography: system setup and calibration", Proc. SPIE 9040, Medical Imaging 2014: Ultrasonic Imaging and Tomography, 90401X (22 April 2014); https://doi.org/10.1117/12.2045516

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