Assistive and Autonomous Breast Ultrasound Screening: Improving PPV and Reducing RSI
Technical Report,01 Feb 2017,31 Jan 2018
University of Rochester Rochester United States
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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 forcetorque 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.
- Medicine and Medical Research