Currently, robotic systems for ultrasound diagnostic procedures fall into two main categories: portable robots that require manual positioning and fully autonomous robotic systems that independently control the ultrasound probe’s orientation and positioning. Portable robots rely on assistants to position the probe, which can introduce variability, reduce precision, and complicate the physician’s intuition during tele-manipulation due to the lack of haptic (tactile) feedback and a reliance on visual cues. In contrast, fully autonomous systems face challenges in accurately estimating contact forces and adjusting to unexpected changes, potentially risking safety and effectiveness in medical procedures.
Home / Publications / Publication
Home / Publications / Publication
A NOVEL APPROACH FOR ROBOTIC-ASSISTED TELE-ECHOGRAPHY
Publication type: Article Summary
Original title: Twin Kinematics Approach for Robotic-Assisted Tele-Echography
Article publication date: November 2020
Source: IEEE (Institute of Electrical and Electronics Engineers)
Authors: Luís Santos, Rui Cortesão & João Quintas
What is the goal, target audience, and areas of digital health it addresses?
The primary goal of the study is to present a novel teleoperation approach for robotic-assisted tele-echography, specifically through the implementation of ROSE (RObot Sensing for tele-Ecography) system, which facilitates remote ultrasound examinations by allowing a physician to control a robotic arm from a distance. The target audience encompasses researchers, robotic engineers, and healthcare professionals, especially radiologists, as the study addresses telemedicine, ultrasounds and robotic systems.
What is the context?
The population in rural areas or isolated regions faces a significant shortage of healthcare professionals, limiting their access to medical care. Frequently, these individuals are required to travel long distances to the nearest hospital. Alternatively, the mobilization of specialist doctors to these regions can intensify their professional burnout, affecting the quality of care. This scenario raises concerns regarding the safety of this population, as the difficulty in accessing adequate care may compromise diagnosis and treatment.
In medicine, ultrasound is a non-invasive technique that uses high-frequency sound waves to create images of structures within the body. Abdominal ultrasound specifically focuses on visualizing internal organs in the abdomen, such as the liver and kidneys, as well as other structures like blood vessels and kidney stones.
What are the current approaches?
Currently, robotic systems for ultrasound diagnostic procedures fall into two main categories: portable robots that require manual positioning and fully autonomous robotic systems that independently control the ultrasound probe’s orientation and positioning. Portable robots rely on assistants to position the probe, which can introduce variability, reduce precision, and complicate the physician’s intuition during tele-manipulation due to the lack of haptic (tactile) feedback and a reliance on visual cues. In contrast, fully autonomous systems face challenges in accurately estimating contact forces and adjusting to unexpected changes, potentially risking safety and effectiveness in medical procedures.
What does innovation consist of? How is the impact of this study assessed?
The innovation in this study lies in a teleoperation architecture that enables two robotic arms to operate with kinematic similarity: the master manipulator, which is directly controlled by the physician, and the slave manipulator, which replicates the physician’s movements on the patient side. Both manipulators have six degrees of freedom, enabling versatile movements.
A key aspect of this innovation is the incorporation of haptic feedback in the master arm, which allows the physician to “feel” interactions with the patient, differentiating structures such as bone and soft skin. To ensure patient safety, the system employs Kalman Active Observers that detect erratic movements by comparing real-time measurements with predicted values. This capability allows for adjustments that prevent excessive force in the patient.
This teleoperation approach was implemented in the ROSE project, focusing on remote ultrasound examinations. The ROSE system comprises three main components: the master site (on the physician side) with a robot arm that provides haptic feedback, the slave site (on the patient side) with a robot arm equipped with an ultrasound probe and a communication link for exchanging in real-time robotic control signals, audio, ultrasound data, and video conference data. Both sites have external computers for accessing ultrasound images and video conference data. Live ultrasound data is transmitted via a web interface and stored in a cloud-based patient database.
The impact of this technology was tested in typical telemedicine scenarios, where a radiologist performed robotic-assisted abdominal ultrasound examinations on a healthy volunteer located remotely. The tele-ultrasound scenarios were differentiated into two modalities: with and without haptic feedback and were compared to evaluate the effectiveness of the system and the quality of the haptic feedback.
What are the main results? What is the impact of these results? What is the future of this technology?
In both scenarios, the radiologist successfully performed the ultrasound examinations, attaining effective motion tracking of the slave manipulator and accurate probe positioning. The examination took less time (220 seconds vs. 175 seconds) without haptic feedback, but the physician relied on video conference images to locate the probe and avoid excessive force. The physician stated that the procedure was easier to perform with haptic feedback, since it was crucial for accurately identifying the probe location and the anatomical landmarks, particularly in challenging placements like the right kidney. Data indicated that without haptic feedback the physician applied higher forces, suggesting that haptic feedback allows for a more controlled and gentle interaction with the patient.
These findings contribute to greater accessibility to specialized medical services, removing geographical barriers and enabling examinations in underserved regions lacking a permanent radiologist. Furthermore, the technology can improve operational efficiency by allowing physicians to conduct exams from central hospitals, reducing transportation costs and time, thus optimizing healthcare delivery.
The future of this technology involves expanding its applications into fields such as gynecology/obstetrics, cardiology, rheumatology and dermatology. Additionally, the system can facilitate interactive training programs, remote technical mentoring, and international collaboration, thereby enhancing medical education and promoting skill transfer among healthcare professionals.
Would you like to know all the details?
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Home / Publications / Publication
A NOVEL APPROACH FOR ROBOTIC-ASSISTED TELE-ECHOGRAPHY
Publication type: Article Summary
Original title: Twin Kinematics Approach for Robotic-Assisted Tele-Echography
Article publication date: November 2020
Source: IEEE (Institute of Electrical and Electronics Engineers)
Authors: Luís Santos, Rui Cortesão & João Quintas
What is the goal, target audience, and areas of digital health it addresses?
The primary goal of the study is to present a novel teleoperation approach for robotic-assisted tele-echography, specifically through the implementation of ROSE (RObot Sensing for tele-Ecography) system, which facilitates remote ultrasound examinations by allowing a physician to control a robotic arm from a distance. The target audience encompasses researchers, robotic engineers, and healthcare professionals, especially radiologists, as the study addresses telemedicine, ultrasounds and robotic systems.
What is the context?
The population in rural areas or isolated regions faces a significant shortage of healthcare professionals, limiting their access to medical care. Frequently, these individuals are required to travel long distances to the nearest hospital. Alternatively, the mobilization of specialist doctors to these regions can intensify their professional burnout, affecting the quality of care. This scenario raises concerns regarding the safety of this population, as the difficulty in accessing adequate care may compromise diagnosis and treatment.
In medicine, ultrasound is a non-invasive technique that uses high-frequency sound waves to create images of structures within the body. Abdominal ultrasound specifically focuses on visualizing internal organs in the abdomen, such as the liver and kidneys, as well as other structures like blood vessels and kidney stones.
What are the current approaches?
Currently, robotic systems for ultrasound diagnostic procedures fall into two main categories: portable robots that require manual positioning and fully autonomous robotic systems that independently control the ultrasound probe’s orientation and positioning. Portable robots rely on assistants to position the probe, which can introduce variability, reduce precision, and complicate the physician’s intuition during tele-manipulation due to the lack of haptic (tactile) feedback and a reliance on visual cues. In contrast, fully autonomous systems face challenges in accurately estimating contact forces and adjusting to unexpected changes, potentially risking safety and effectiveness in medical procedures.
What does innovation consist of? How is the impact of this study assessed?
The innovation in this study lies in a teleoperation architecture that enables two robotic arms to operate with kinematic similarity: the master manipulator, which is directly controlled by the physician, and the slave manipulator, which replicates the physician’s movements on the patient side. Both manipulators have six degrees of freedom, enabling versatile movements.
A key aspect of this innovation is the incorporation of haptic feedback in the master arm, which allows the physician to “feel” interactions with the patient, differentiating structures such as bone and soft skin. To ensure patient safety, the system employs Kalman Active Observers that detect erratic movements by comparing real-time measurements with predicted values. This capability allows for adjustments that prevent excessive force in the patient.
This teleoperation approach was implemented in the ROSE project, focusing on remote ultrasound examinations. The ROSE system comprises three main components: the master site (on the physician side) with a robot arm that provides haptic feedback, the slave site (on the patient side) with a robot arm equipped with an ultrasound probe and a communication link for exchanging in real-time robotic control signals, audio, ultrasound data, and video conference data. Both sites have external computers for accessing ultrasound images and video conference data. Live ultrasound data is transmitted via a web interface and stored in a cloud-based patient database.
The impact of this technology was tested in typical telemedicine scenarios, where a radiologist performed robotic-assisted abdominal ultrasound examinations on a healthy volunteer located remotely. The tele-ultrasound scenarios were differentiated into two modalities: with and without haptic feedback and were compared to evaluate the effectiveness of the system and the quality of the haptic feedback.
What are the main results? What is the impact of these results? What is the future of this technology?
In both scenarios, the radiologist successfully performed the ultrasound examinations, attaining effective motion tracking of the slave manipulator and accurate probe positioning. The examination took less time (220 seconds vs. 175 seconds) without haptic feedback, but the physician relied on video conference images to locate the probe and avoid excessive force. The physician stated that the procedure was easier to perform with haptic feedback, since it was crucial for accurately identifying the probe location and the anatomical landmarks, particularly in challenging placements like the right kidney. Data indicated that without haptic feedback the physician applied higher forces, suggesting that haptic feedback allows for a more controlled and gentle interaction with the patient.
These findings contribute to greater accessibility to specialized medical services, removing geographical barriers and enabling examinations in underserved regions lacking a permanent radiologist. Furthermore, the technology can improve operational efficiency by allowing physicians to conduct exams from central hospitals, reducing transportation costs and time, thus optimizing healthcare delivery.
The future of this technology involves expanding its applications into fields such as gynecology/obstetrics, cardiology, rheumatology and dermatology. Additionally, the system can facilitate interactive training programs, remote technical mentoring, and international collaboration, thereby enhancing medical education and promoting skill transfer among healthcare professionals.
Would you like to know all the details?
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