Robotic assistance for ultrasound elastography providing autonomous palpation with teleoperation and haptic feedback capabilities - Inria - Institut national de recherche en sciences et technologies du numérique Access content directly
Conference Papers Year :

Robotic assistance for ultrasound elastography providing autonomous palpation with teleoperation and haptic feedback capabilities

Abstract

Detecting stiff tissue using ultrasound elastogra-phy has been used as a non-invasive technique in the assessment of important diseases. The real-time estimation of tissue elastic parameters depends on the continuous application of an appropriate palpation motion with an ultrasound probe, which can be achieved through the use of a robotic system. To complement ultrasound elastography and further profit from the information it provides, we propose to give to the clinician the ability to physically feel in real-time during the examination the stiffness of a tissue observed in the elastography image by rendering it with a haptic force feedback, enhancing therefore the capacity of the examiner to detect anomalies. We also propose in our robotic palpation system a teleoperation control of the ultrasound probe for navigation purpose during the tissue examination. Experimental results obtained on an abdominal phantom demonstrated the feasibility of our approach.
Fichier principal
Vignette du fichier
2020_biorob_Patlan.pdf (2.61 Mo) Télécharger le fichier
Origin : Files produced by the author(s)
Loading...

Dates and versions

hal-02895069 , version 1 (09-07-2020)

Identifiers

  • HAL Id : hal-02895069 , version 1

Cite

Pedro A Patlan-Rosales, Alexandre Krupa. Robotic assistance for ultrasound elastography providing autonomous palpation with teleoperation and haptic feedback capabilities. BioRob 2020 - 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, Nov 2020, New York, United States. pp.1-6. ⟨hal-02895069⟩
85 View
173 Download

Share

Gmail Facebook Twitter LinkedIn More