Robotic-Assisted Ultrasound for Fetal Imaging: Evolution from Single-Arm to Dual-Arm System.

Area of Science:

• Robotics in Medical Imaging
• Ultrasound Technology
• Medical Mechatronics

Background:

• Manual manipulation of ultrasound probes presents limitations in consistency and precision.
• Robotic-assisted systems aim to overcome deficiencies associated with traditional on-site probe handling.
• Extracorporeal ultrasound robotic systems have been explored since the 1990s for various examinations.

Purpose of the Study:

• To present the development and evaluation of the intelligent Fetal Imaging and Diagnosis (iFIND) robotic systems.
• To detail the design evolution, implementation, and clinical feedback of single-arm and dual-arm iFIND robots.
• To assess the reliability, user comfort, and acceptance of robotic ultrasound scanning.

Main Methods:

• Review of historical development of extracorporeal ultrasound robotic systems.
• Design and implementation of bespoke single-arm and dual-arm robotic systems for the iFIND project.
• Preliminary testing on 42 volunteers, including mechatronic system validation and participant questionnaire analysis.

Main Results:

• The mechatronic systems of the iFIND robots demonstrated successful and reliable operation in preliminary tests.
• Participant feedback indicated a comfortable scanning experience during robotic ultrasound examinations.
• A high acceptance rate was observed among volunteers undergoing scans by the robotic systems.

Conclusions:

• The iFIND robotic ultrasound systems show promise for reliable and patient-accepted fetal and abdominal examinations.
• The developed robotic platforms address limitations of manual ultrasound probe manipulation.
• Further clinical integration and validation of these advanced robotic ultrasound technologies are warranted.