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Updated: Mar 23, 2026
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Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound
Published on: January 7, 2019
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Enabling technologies for robot assisted ultrasound tomography
Fereshteh Aalamifar1, Rishabh Khurana2, Alexis Cheng3
1Johns Hopkins University, Electrical & Computer Eng. Dept., 3400 N. Charles St., Baltimore, MD, 21218, USA.
Summary
This study introduces a novel robot-assisted ultrasound tomography system for versatile imaging. The system achieves precise reconstruction and alignment, enabling broader applications beyond specific organs.
Area of Science:
- Medical Imaging
- Robotics
- Biomedical Engineering
Background:
- Conventional ultrasound (US) tomography systems often use specialized cylindrical transducers for specific organs.
- There is a need for more versatile US tomography systems applicable to various anatomies.
Purpose of the Study:
- To develop an alternative ultrasound tomography system for general applications.
- To address the challenge of aligning US probes in a tomography setup.
- To introduce a robot-assisted system for improved alignment and repeatability.
Main Methods:
- The proposed system uses two conventional US probes facing each other.
- One probe is freehand-operated, while the other is controlled by a robotic arm.
- Enabling technologies for the robot-assisted system are described.
Main Results:
- The prototype achieved reconstruction precisions of 4.12, 1.73, and 2.23 mm across three calibrations.
- Overall alignment repeatability was demonstrated to be in the range of 5-9 mm.
Conclusions:
- A robot-assisted ultrasound tomography system offers a promising alternative for general imaging applications.
- The developed system addresses probe alignment challenges, improving precision and repeatability.
- This technology has the potential to expand the use of ultrasound tomography.
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