Towards Standardized Acquisition With a Dual-Probe Ultrasound Robot for Fetal Imaging

Standardized acquisitions and diagnoses using robots AI would potentially increase the general usability reliability of medical ultrasound. Working towards this prospect, letter presents recent developments a standardized acquisition workflow novel dual-probe ultrasound robot, for project known as intelligent Fetal Imaging Diagnosis (iFIND). The includes an abdominal surface mapping step to obtain non-parametric spline surface, rule-based end-point calculation method position each individual joint, motor synchronization achieve smooth motion target point. design implementation robot are first presented in proposed is then explained detail with simulation volunteer experiments performed analyzed. closed-form analytical solution specific planning problem has demonstrated reliable performance controlling move expected scanning areas calculated proximity shows that maintains safe distance while moving around abdomen. study successfully working controllability terms acquiring desired views. Our future work will focus on improving planning, integrating newly-developed image processing methods diagnostic results accurate consistent way.