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Micromachines 2018, 9(2), 65;

Strategy for Monitoring Cardiac Interventions with an Intelligent Robotic Ultrasound Device

School of Biomedical Engineering and Imaging Sciences, King’s College London, 4th Floor North Wing, St Thomas’ Hospital, London SE1 7EH, UK
Xtronics Ltd., Gravesend, Kent DA12 2AD, UK
This paper is an extended version of our paper published in the 3rd International Conference on Mechanical Engineering and Automation Science (ICMEAS 2017), was held in Birmingham, UK, 13–15 October, 2017.
Author to whom correspondence should be addressed.
Received: 5 December 2017 / Revised: 17 January 2018 / Accepted: 31 January 2018 / Published: 2 February 2018
(This article belongs to the Special Issue Selected Papers from ICMEAS 2017)
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In recent years, 3D trans-oesophageal echocardiography (TOE) has become widely used for monitoring cardiac interventions. The control of the TOE probe during the procedure is a manual task which is tedious and harmful for the operator when exposed to radiation. To improve this technique, an add-on robotic system has been developed for holding and manipulating a commercial TOE probe. This paper focuses on the probe adjustment strategy in order to accurately monitor the moving intra-operative catheters. The positioning strategy is divided into an initialization step based on a pre-planning method, and a localized adjustment step based on the robotic differential kinematics. A series of experiments was performed to evaluate the initialization and the localized adjustment steps. The results indicate a mean error less than 10 mm from the phantom experiments for the initialization step, and a median error less than 1.5 mm from the computer-based simulation experiments for the localized adjustment step. Compared to the much bigger image volume, it is concluded that the proposed methods are feasible for this application. Future work will focus on evaluating the method in a more realistic TOE scanning scenario. View Full-Text
Keywords: ultrasound robot; cardiac interventions; modeling and simulation; automatic control ultrasound robot; cardiac interventions; modeling and simulation; automatic control

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Wang, S.; Housden, J.; Zar, A.; Gandecha, R.; Singh, D.; Rhode, K. Strategy for Monitoring Cardiac Interventions with an Intelligent Robotic Ultrasound Device. Micromachines 2018, 9, 65.

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