腿部动脉的自动机器人多普勒声谱
Jonas Osburg1, Alexandra Scheibert2, Marco Horn2
1Institute for Robotics and Cognitive Systems, University of Luebeck, Ratzeburger Allee 160, Luebeck, 23562, Germany. j.osburg@uni-luebeck.de.
概括
一个新的机器人系统可以自动地对腿部血管进行多普勒超声波检查,提高精度并减少血管疾病诊断和治疗的辐射暴露.
科学领域:
- 医疗机器人 医疗机器人
- 血管成像 血管成像
- 诊断技术 诊断技术的使用
背景情况:
- 机器人辅助系统可以支持血管疾病的诊断和治疗,减少辐射暴露和员工的工作量.
- 多普勒超声波是血管病理的关键诊断工具.
研究的目的:
- 提出一个机器人系统用于自动多普勒超声波检查腿部血管.
- 评估系统在船只跟踪方面的准确性和稳定性.
主要方法:
- 使用了带有3D超声波探针的7度自由度 (DoF) 串行操纵器.
- 符合控制和视觉伺服器引导探头沿着船只与定义的接触力.
- 船舶位置跟踪使用模板匹配和多普勒超声波方法.
主要成果:
- 该系统成功地扫描了7名志愿者的股骨动脉,距离20厘米.
- 与模板匹配 (13.9 ±6.4 px) 相比,多普勒超声波跟踪实现了更高的稳定性和准确性 (10.7 ±3.1 px).
结论:
- 开发的系统有助于自动化机器人超声波检查,减少辐射和人员负担.
- 整合多普勒超声波提高了血管跟踪的准确性和稳定性,为例行机器人血管手术铺平了道路.
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