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International Journal of Computer Assisted Radiology and Surgery

Erschienen in:

09.08.2021 | Original Article

Force-guided autonomous robotic ultrasound scanning control method for soft uncertain environment

verfasst von: Guochen Ning, Jiaqi Chen, Xinran Zhang, Hongen Liao

Erschienen in: International Journal of Computer Assisted Radiology and Surgery | Ausgabe 12/2021

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Abstract

Purpose

Autonomous ultrasound imaging by robotic ultrasound scanning systems in complex soft uncertain clinical environments is important and challenging to assist in therapy. To cope with the complex environment faced by the ultrasound probe during the scanning process, we propose an autonomous robotic ultrasound (US) control method based on reinforcement learning (RL) model to build the relationship between the environment and the system. The proposed method requires only contact force as input information to achieve robot control of the posture and contact force of the probe without any a priori information about the target and the environment.

Methods

First, an RL agent is proposed and trained by a policy gradient theorem-based RL model with the 6-degree-of-freedom (DOF) contact force of the US probe to learn the relationship between contact force and output force directly. Then, a force control strategy based on the admittance controller is proposed for synchronous force, orientation and position control by defining the desired contact force as the action space.

Results

The proposed method was evaluated via collected US images, contact force and scan trajectories by scanning an unknown soft phantom. The experimental results indicated that the proposed method differs from the free-hand scanned approach in the US images within 3 ± 0.4%. The analysis results of contact forces and trajectories indicated that our method could make stable scanning processes on a soft uncertain skin surface and obtained US images.

Conclusion

We propose a concise and efficient force-guided US robot scanning control method for soft uncertain environment based on reinforcement learning. Experimental results validated our method's feasibility and validity for complex skin surface scanning, and the volunteer experiments indicated the potential application value in the complex clinical environment of robotic US imaging system especially with limited visual information.

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Titel: Force-guided autonomous robotic ultrasound scanning control method for soft uncertain environment
verfasst von: Guochen Ning
Jiaqi Chen
Xinran Zhang
Hongen Liao
Publikationsdatum: 09.08.2021
Verlag: Springer International Publishing
Erschienen in: International Journal of Computer Assisted Radiology and Surgery / Ausgabe 12/2021
Print ISSN: 1861-6410
Elektronische ISSN: 1861-6429
DOI: https://doi.org/10.1007/s11548-021-02462-6

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Abstract

Purpose

Methods

Results

Conclusion

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