Autonomous Robotic Ultrasound System for Liver Follow-up Diagnosis: Pilot Phantom Study
<|reference_start|>Autonomous Robotic Ultrasound System for Liver Follow-up Diagnosis: Pilot Phantom Study: The paper introduces a novel autonomous robot ultrasound (US) system targeting liver follow-up scans for outpatients in local communities. Given a computed tomography (CT) image with specific target regions of interest, the proposed system carries out the autonomous follow-up scan in three steps: (i) initial robot contact to surface, (ii) coordinate mapping between CT image and robot, and (iii) target US scan. Utilizing 3D US-CT registration and deep learning-based segmentation networks, we can achieve precise imaging of 3D hepatic veins, facilitating accurate coordinate mapping between CT and the robot. This enables the automatic localization of follow-up targets within the CT image, allowing the robot to navigate precisely to the target's surface. Evaluation of the ultrasound phantom confirms the quality of the US-CT registration and shows the robot reliably locates the targets in repeated trials. The proposed framework holds the potential to significantly reduce time and costs for healthcare providers, clinicians, and follow-up patients, thereby addressing the increasing healthcare burden associated with chronic disease in local communities.<|reference_end|>
@article{zhang2024autonomous,
    title={Autonomous Robotic Ultrasound System for Liver Follow-up Diagnosis:
  Pilot Phantom Study},
    author={Tianpeng Zhang (1), Sekeun Kim (2), Jerome Charton (2), Haitong Ma
  (1), Kyungsang Kim (2), Na Li (1), Quanzheng Li (2)((1) SEAS, Harvard
  University (2) CAMCA, Massachusetts General Hospital and Harvard Medical
  School)},
    journal={arXiv preprint arXiv:2405.05787},
    year={2024},
    archivePrefix={arXiv},
    eprint={2405.05787},
    primaryClass={cs.RO cs.CV cs.SY eess.SY}
}