Closed-Loop Magnetic Manipulation for Robotic Transesophageal Echocardiography

Li, Keyu1; Xu, Yangxin2; Zhao, Ziqi3; Li, Ang1; Meng, Max Q. -H.4,5

2023-06-01

10.1109/TRO.2023.3281477

IEEE TRANSACTIONS ON ROBOTICS   影响因子和分区

1552-3098

1941-0468

This paper presents a closed-loop magnetic manipulation framework for robotic transesophageal echocardiography (TEE) acquisitions. Different from previous work on intracorporeal robotic ultrasound acquisitions that focus on continuum robot control, we first investigate the use of magnetic control methods for more direct, intuitive, and accurate manipulation of the distal tip of the probe. We modify a standard TEE probe by attaching a permanent magnet and an inertial measurement unit sensor to the probe tip and replacing the flexible gastroscope with a soft tether containing only wires for transmitting ultrasound signals, and show that 6-DOF localization and 5-DOF closed-loop control of the probe can be achieved with an external permanent magnet based on the fusion of internal inertial measurement and external magnetic field sensing data. The proposed method does not require complex structures or motions of the actuator and the probe compared with existing magnetic manipulation methods. We have conducted extensive experiments to validate the effectiveness of the framework in terms of localization accuracy, update rate, workspace size, and tracking accuracy. In addition, our results obtained on a realistic cardiac tissue-mimicking phantom show that the proposed framework is applicable in real conditions and can generally meet the requirements for tele-operated TEE acquisitions.

Magnetic manipulation medical robots robotic ultrasound sensor fusion transesophageal echocardiography (TEE)

SCI

英语

通讯

National Key Ramp;D Program of China[2019YFB1312400] ; Hong Kong Research Grants Council (RGC) Collaborative Research Fund[C4063-18G] ; Hong Kong RGC General Research Fund[14211420]

Robotics

Robotics

WOS:001019447100001

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC

Web of Science

1.Chinese Univ Hong Kong, Dept Elect Engn, Hong Kong, Peoples R China
2.Yuanhua Robot Percept & AI Technol Ltd, Shenzhen 518000, Peoples R China
3.Southern Univ Sci & Technol, Dept Elect & Elect Engn, Shenzhen 518055, Peoples R China
4.Southern Univ Sci & Technol, Dept Elect & Elect Engn, Shenzhen Key Lab Robot Percept & Intelligence, Shenzhen 518055, Peoples R China
5.Chinese Univ Hong Kong, Shenzhen Res Inst, Shenzhen 518057, Peoples R China

Li, Keyu,Xu, Yangxin,Zhao, Ziqi,et al. Closed-Loop Magnetic Manipulation for Robotic Transesophageal Echocardiography[J]. IEEE TRANSACTIONS ON ROBOTICS,2023,PP(99):1-14.

Li, Keyu,Xu, Yangxin,Zhao, Ziqi,Li, Ang,&Meng, Max Q. -H..(2023).Closed-Loop Magnetic Manipulation for Robotic Transesophageal Echocardiography.IEEE TRANSACTIONS ON ROBOTICS,PP(99),1-14.

Li, Keyu,et al."Closed-Loop Magnetic Manipulation for Robotic Transesophageal Echocardiography".IEEE TRANSACTIONS ON ROBOTICS PP.99(2023):1-14.