Proceedings on Automation in Medical Engineering
Vol. 1 No. 1 (2020): Proc AUTOMED

General procedures and methods, ID 028

Visual servoing for semi-automated 2D ultrasound scanning of peripheral arteries

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Felix von Haxthausen (Institute for Robotics and Cognitive Systems, University of Lübeck), Till Aust (Institute for Robotics and Cognitive Systems, University of Lübeck), Holger Schwegmann (Institute for Robotics and Cognitive Systems, University of Lübeck), Sven Böttger (Institute for Robotics and Cognitive Systems, University of Lübeck), Floris Ernst (Institute for Robotics and Cognitive Systems, University of Lübeck), Verónica García-Vázquez (Institute for Robotics and Cognitive Systems, University of Lübeck), Markus Kleemann (Division of Vascular- and Endovascular Surgery, Department of Surgery, University Hospital Schleswig-Holstein), Mark Kaschwich (Division of Vascular- and Endovascular Surgery, Department of Surgery, University Hospital Schleswig-Holstein)

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Abstract

2D ultrasound (US) is a commonly used imaging technique for diagnostic and aftercare purposes in vascular medicine. Nonetheless, the acquisition is still a user-dependent and time-consuming process. To overcome these disadvantages, we propose a semi-automated scan of peripheral arteries by means of a robotic arm with an US probe at its end effector. The system was evaluated by checking its feasibility to scan the femoral artery of a leg phantom and measuring the duration of a scan. In 27 out of 30 trials the robot reached its target point along the leg phantom with a mean duration of 61.4 s.

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