Assistive and Autonomous Breast Ultrasound Screening: Improving PPV and Reducing RSI

Abstract

This report details our first year of research activity on technologies that support sonographer-supervised robotic systems for breast ultrasound imaging with quantitative elastography. Major objectives achieved in this period included development of a research platform including a compliant robotic manipulator, a force/torque sensor, a wrist-mounted ultrasound transducer, and an ultrasound scanning device. A force-velocity controller has been implemented and characterized to operate the manipulator. In parallel, ultrasound pulse sequences have been developed allowing co-registered strain and shear wave elastograms to be generated. Acoustic output parameters for these sequences have been measured, and IRB approval obtained for human subjects studies.

Open PDF

Document Details

Document Type
Technical Report
Publication Date
Feb 01, 2018
Accession Number
AD1053911

Entities

People

  • Stephen McAleavey
  • Thomas P Howard

Organizations

  • University of Rochester

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Acoustic Properties
  • Biomedical Research
  • Control
  • Control Systems
  • Data Science
  • Elastic Properties
  • Engineering
  • Fabrication
  • Human-Robot Interaction
  • Manipulators
  • Measurement
  • Mechanical Properties
  • Modulus Of Elasticity
  • Patent Applications
  • Platforms
  • Poisson Ratio
  • Robotics
  • Robots
  • Scanning
  • Secondary Waves
  • Sequences
  • Statistical Analysis
  • Stiffness
  • Students
  • Transducers
  • Ultrasounds
  • Universities

Fields of Study

  • Medicine
  • Physics

Readers

  • Medical Imaging.
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy