自己正規位置決めから全方位追跡へ：ロボット超音波画像診断のためのリアルタイム表面モデリングによるプローブ傾斜制御
From Self-Normal-Positioning to Omni-Directional Tracking: Real-Time Surface Modeling Enabled Probe Tilt Control for Robotic Ultrasound Imaging
ロボット超音波診断において、プローブを表面に対して垂直に保つ従来の制約を超え、任意の角度で追跡できる全方位プローブ姿勢制御フレームワークを提案。RGB-Dセンサと表面モデリングを統合し、心エコーなどの非垂直角度が必要な検査に対応する。
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著者: Xihan Ma, Haichong Zhang
分類: cs.RO
原文アブストラクト
Ultrasound (US) provides real-time, radiation-free imaging, but the image quality depends strongly on how the probe is oriented against the patient body. Robotic US can reduce operator workload and improve acquisition consistency; however, most existing systems focus on normal positioning, where the probe is maintained perpendicular to the local surface. This constraint is inadequate for examinations like echocardiography, where obtaining a diagnostic view requires a non-normal probe angle. Consequently, a clinically useful robotic system must sense the local surface in real-time and preserve the desired probe orientation. Here, we propose an omni-directional probe-orientation control framework that integrates RGB-D perception, local-surface modeling, and task-space orientation control. The surface model fuses multi-view point clouds and provides a quadratic estimate of the local surface. A desired imaging direction is then encoded relative to the normal, enabling the probe to track arbitrary angles. The framework was evaluated through flat-surface tracking, phantom target-angle recovery, and in-vivo tracking of an expert selected view. Results show that the mean angular tracking error was 1.06 +- 0.66 deg. The system recovered a non-normal tilt angle of up to 44.39 +- 2.59 deg relative to the surface normal, and acquired the desired heart chamber view in the phantom and in-vivo experiments.