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International Journal of Computer Assisted Radiology and Surgery
Published in: International Journal of Computer Assisted Radiology and Surgery 6/2017

01-06-2017 | Original Article

On the reproducibility of expert-operated and robotic ultrasound acquisitions

Authors: Risto Kojcev, Ashkan Khakzar, Bernhard Fuerst, Oliver Zettinig, Carole Fahkry, Robert DeJong, Jeremy Richmon, Russell Taylor, Edoardo Sinibaldi, Nassir Navab

Published in: International Journal of Computer Assisted Radiology and Surgery | Issue 6/2017

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Abstract

Purpose

We present the evaluation of the reproducibility of measurements performed using robotic ultrasound imaging in comparison with expert-operated sonography. Robotic imaging for interventional procedures may be a valuable contribution, but requires reproducibility for its acceptance in clinical routine. We study this by comparing repeated measurements based on robotic and expert-operated ultrasound imaging.

Methods

Robotic ultrasound acquisition is performed in three steps under user guidance: First, the patient is observed using a 3D camera on the robot end effector, and the user selects the region of interest. This allows for automatic planning of the robot trajectory. Next, the robot executes a sweeping motion following the planned trajectory, during which the ultrasound images and tracking data are recorded. As the robot is compliant, deviations from the path are possible, for instance due to patient motion. Finally, the ultrasound slices are compounded to create a volume. Repeated acquisitions can be performed automatically by comparing the previous and current patient surface.

Results

After repeated image acquisitions, the measurements based on acquisitions performed by the robotic system and expert are compared. Within our case series, the expert measured the anterior–posterior, longitudinal, transversal lengths of both of the left and right thyroid lobes on each of the 4 healthy volunteers 3 times, providing 72 measurements. Subsequently, the same procedure was performed using the robotic system resulting in a cumulative total of 144 clinically relevant measurements. Our results clearly indicated that robotic ultrasound enables more repeatable measurements.

Conclusions

A robotic ultrasound platform leads to more reproducible data, which is of crucial importance for planning and executing interventions.
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Metadata
Title
On the reproducibility of expert-operated and robotic ultrasound acquisitions
Authors
Risto Kojcev
Ashkan Khakzar
Bernhard Fuerst
Oliver Zettinig
Carole Fahkry
Robert DeJong
Jeremy Richmon
Russell Taylor
Edoardo Sinibaldi
Nassir Navab
Publication date
01-06-2017
Publisher
Springer International Publishing
Published in
International Journal of Computer Assisted Radiology and Surgery / Issue 6/2017
Print ISSN: 1861-6410
Electronic ISSN: 1861-6429
DOI
https://doi.org/10.1007/s11548-017-1561-1

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