Robot-Assisted 3D Medical Sonography

Abstract

This chapter presents the conceptual framework of humanoid robot application in the field of non-invasive medical diagnostics based on interactive ultrasound scanning and spatial visualisation of sonograms. Humanoid robots appear in this context as intelligent assistants which enable acquisition of 3D sonograms using the conventional ultrasound probe for 2D manual scanning through collaborative work with humans-slave mode, or through machine precision execution of the kinematic motion primitives-autonomous mode. In this way a qualitatively new technology can be created, opening the door for the development and application of new ultrasound examination techniques, which a sonographer cannot apply through conventional approaches based on free-hand 2D scanning. From the engineering aspect, the key technological step forward is the development of an anthropomorphic robotic humanoid which will enable safe and collaborative work (Co-X robotics) in a complex physical and cognitive sonog-rapher-robot-patient interaction.