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Towards fully automated robotic platform for remote auscultation.

Ryosuke Tsumura¹, Yoshihiko Koseki¹, Naotaka Nitta¹

¹Health and Medical Research Institute, National Institute of Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan.

The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS

|September 13, 2022

Summary

This study introduces an automated robotic platform for remote auscultation. The system accurately positions a stethoscope for cardiac exams, offering a cost-effective healthcare screening solution.

Keywords:

auscultation force control medical robot point cloud

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Area of Science:

Robotics
Healthcare Technology
Medical Diagnostics

Background:

Increasing patient-to-healthcare worker ratios in developed nations due to aging populations and declining birth rates.
Need for automated, remote diagnostic tools to alleviate healthcare system burdens.
Auscultation as a key diagnostic technique suitable for automation.

Purpose of the Study:

To develop and evaluate an automated robotic platform for remote auscultation.
To assess the platform's capability for autonomous stethoscope positioning and contact force maintenance.
To demonstrate the potential of robotic auscultation as a cost-effective screening tool.

Main Methods:

A 6-degree-of-freedom cooperative robotic arm equipped with an electric stethoscope and LiDAR camera.
Autonomous stethoscope positioning using LiDAR-based multi-way registration for body surface mapping.
A passive-actuated mechanism to ensure safe, flexible contact and controlled force application.

Main Results:

Successful estimation of cardiac examination landing positions using body surface depth and landmark data.
Robotic platform effectively handles the stethoscope while maintaining consistent contact force.
Preliminary results validate the feasibility of automated remote auscultation.

Conclusions:

The developed robotic platform demonstrates precise control for stethoscope placement and contact force management.
Automated remote auscultation shows significant potential for efficient and accessible healthcare screening.
This technology could enable remote diagnostic capabilities, reducing reliance on in-person specialist visits.