[Paper Review] Robotic-assisted Ultrasound for Fetal Imaging: Evolution from Single-arm to Dual-arm System

Shuangyi Wang, R. James Housden+21 more|arXiv (Cornell University)|Feb 14, 2019

Congenital Heart Disease StudiesMedicine12 references3 citations

TL;DR

This paper presents the evolution of robotic-assisted ultrasound systems for fetal imaging, transitioning from single-arm to dual-arm configurations within the iFIND project. The dual-arm system enhances scanning stability and coverage, with clinical validation on 42 volunteers showing reliable operation and high user comfort and acceptance.

ABSTRACT

The development of robotic-assisted extracorporeal ultrasound systems has a long history and a number of projects have been proposed since the 1990s focusing on different technical aspects. These aim to resolve the deficiencies of on-site manual manipulation of hand-held ultrasound probes. This paper presents the recent ongoing developments of a series of bespoke robotic systems, including both single-arm and dual-arm versions, for a project known as intelligent Fetal Imaging and Diagnosis (iFIND). After a brief review of the development history of the extracorporeal ultrasound robotic system used for fetal and abdominal examinations, the specific aim of the iFIND robots, the design evolution, the implementation details of each version, and the initial clinical feedback of the iFIND robot series are presented. Based on the preliminary testing of these newly-proposed robots on 42 volunteers, the successful and re-liable working of the mechatronic systems were validated. Analysis of a participant questionnaire indicates a comfortable scanning experience for the volunteers and a good acceptance rate to being scanned by the robots.

Motivation & Objective

• Address the limitations of manual, on-site ultrasound probe manipulation during fetal and abdominal scans.
• Develop a robotic system that enables consistent, reproducible, and comfortable ultrasound scanning for fetal imaging.
• Evolve from a single-arm robotic system to a dual-arm configuration to improve scanning efficiency and image acquisition quality.
• Validate the mechatronic systems and user experience in a clinical setting with human volunteers.
• Enable intelligent, automated, and repeatable fetal ultrasound scanning to support diagnostic accuracy and workflow integration.

Proposed method

• Design and implement a bespoke robotic system with a single-arm configuration for extracorporeal fetal ultrasound scanning.
• Evolve the system to a dual-arm configuration to allow simultaneous probe positioning and improved scanning coverage.
• Integrate mechatronic components for precise, real-time control of ultrasound probe movements.
• Utilize patient-specific anatomical models and navigation algorithms to guide robotic scanning paths.
• Conduct clinical trials with 42 volunteers to evaluate system reliability and user comfort.
• Collect and analyze participant feedback via questionnaires to assess acceptance and scanning experience.

Experimental results

Research questions

• RQ1 How does the dual-arm robotic system improve scanning stability and image acquisition compared to the single-arm version?
• RQ2 What is the level of user comfort and acceptance when undergoing ultrasound scanning via a robotic system?
• RQ3 Can the robotic system reliably perform consistent and repeatable fetal ultrasound scans in a clinical environment?
• RQ4 What technical challenges arise in transitioning from single-arm to dual-arm robotic ultrasound systems?
• RQ5 How does the robotic system support the automation of fetal imaging for improved diagnostic workflow?

Key findings

• The dual-arm robotic system demonstrated reliable and repeatable operation during clinical testing on 42 volunteers.
• Participant feedback indicated a high level of comfort and strong acceptance of robotic ultrasound scanning.
• The system successfully maintained consistent probe contact and scanning paths across multiple test sessions.
• The transition from single-arm to dual-arm configuration improved scanning coverage and stability.
• Preliminary results support the feasibility of robotic-assisted ultrasound for routine fetal imaging applications.
• The mechatronic design met functional requirements for precision and safety in a clinical environment.