1 Diagnostic Posture Control System for Seated -Style Echocardiography Robot Yuuki Shida1 Masami Sugawara1 Ryosuke Tsumura2 Haruaki Chiba3Tokuhisa Uejima4

2025-04-30 0 0 831.33KB 12 页 10玖币

侵权投诉

Diagnostic Posture Control System for Seated-Style Echocardiography Robot

Yuuki Shida1*， Masami Sugawara1， Ryosuke Tsumura2， Haruaki Chiba3，Tokuhisa Uejima4

Hiroyasu Iwata5

1 Graduate School of Creative Science and Engineering, Waseda University, Tokyo 169-8050, Japan

2 Global Robot Academia Laboratory, Waseda University, Tokyo 169-8050, Japan

3 NSK Ltd Technology Development Department 1New Field Products Development Center Technology

Development Division Headquarters, Kanagawa 251-8501, Japan

4 The Cardiovascular Institute, Tokyo, 106-0031, Japan

5 Faculty of Science and Engineering, Waseda University, Tokyo 169-8050, Japan

* Corresponding author: Yuuki Shida (yuuki-shida@iwata.mech.waseda.ac.jp)

Abstract

Purpose Conventional robotic ultrasound systems were utilized with patients in supine positions.

Meanwhile, the limitation of the systems is that it is difficult to evacuate the patients in case of emergency

(e.g., patient discomfort and system failure) because the patients are restricted between the robot system

and bed. Then, it is ideal that the patient undergoes the examination in the sitting position in terms of safety.

Therefore, we validated a feasibility study of seated-style echocardiography using a robot.

Method Preliminary experiments were conducted to verify the following two points: (1) the possibility of

obtaining cardiac disease features in the sitting posture as well as in the conventional examination, and (2)

the relationship between posture angle and physical burden. For reducing the physical burden, two unique

mechanisms were incorporated into the system: (1) a leg pendulum base mechanism to reduce the load on

the legs when the lateral bending angle increases, and (2) a roll angle division by a lumbar lateral bending

and thoracic rotation mechanisms.

Results Preliminary results demonstrated that adjusting the diagnostic posture angle enabled us to obtain

the views, including cardiac disease features, as in the conventional examination. The results showed that

the body burden increased as the posture's lateral bending angle increased. The results also demonstrated

that the body load reduction mechanism incorporated in the results could reduce the physical load in the

seated echocardiography.

Conclusion These results showed the potential of the seated-style echocardiography robot.

Keywords Medical robots, Echocardiography, Robotic ultrasound, Human-robot interaction

Declarations

Compliance with ethical standards

Conflict of Interest The authors declare that they have no conflict of interest.

Ethical approval All procedures performed in studies involving human participants were in accordance

with the ethical standards of the institutional research committee in Waseda University.

Informed consent Informed consent was obtained from all participants included in the study.

1. Introduction

Heart disease has become the most common disease globally in terms of deaths. According to a

World Health Organization (WHO) [1] survey, 17.9 million people died of heart disease in 2019. The

mortality rate of heart disease can be significantly improved by early detection and treatment. In response

to this situation, transthoracic echocardiography often referred to as cardiac ultrasound, has become the

modality of choice in the initial assessment of cardiac disease because it is noninvasive, easy to use, and

provides high-resolution imaging and real-time feedback [2]. However, ultrasonography, including

transthoracic echocardiography, is highly challenging because of its sophisticated procedure. As a result,

physicians and sonographers must have advanced experience and knowledge.

To solve the problems mentioned above, a wide range of robot-assisted technologies for

ultrasound examinations have been developed. These robot systems have focused on several applications

such as the carotid artery, liver, fetal echocardiography, cardiac tamponade, and other generic sites [3]-[13].

However, most of these robot systems are designed to be used with the patient in the left lateral decubitus

or supine position, which is the recommended position for conventional examination methods. Those

configurations were mainly applied through a serial robotic manipulator or gantry-style (Fig 1 (a)). In the

case that the robot performs the examination in that position, the patient is positioned between the robot

and the bed. Therefore, given that the patient’s posture is restricted, emergency evacuation in case of patient

discomfort or robot failure is difficult, which is insufficient for safety during the examination. Therefore, it

is ideal that the patient undergoes the examination in a sitting position rather than in the left lateral decubitus

or supine positions in terms of safety and emergency evacuation because the patient can immediately leave

the robot system (Fig 1 (b)). In the conventional examination, the patient needs to be in the supine position

first, and the examination is performed in the left lateral decubitus position when diagnostic images cannot

be obtained clearly since the heart is hindered by other organs such as the lungs. By examining in the left

lateral supine position, the heart is slightly moved so that it is not hindered by other organs. This is achieved

by adjusting the direction of gravity applied to the heart. We hypothesize that the same phenomenon can be

produced by adjusting the angle of the patient’s posture, even in the sitting posture. If the quality of

diagnostic images is ensured in the sitting posture, the safety of the robot system for assisting the

ultrasonography can be guaranteed.

Fig 1 Echocardiography robot and subject placement (a) supine (b) seated

Therefore, the purpose of this study is to establish the proof-of-concept of the seated-style

echocardiography robot system. We experimentally analyzed the diagnosable posture angle at which

diagnostic images visualizing the features of cardiac diseases can be acquired with healthy subjects. Based

on the analysis, we proposed a seated diagnostic posture control system that enables the adjustment of the

optimal posture angle in the sitting position, thereby visualizing the features of cardiac disease and

decreasing the physical load occurring in the sitting position.

2. Analysis of diagnosable posture angles

2.1. Experimental analysis for diagnosable posture angle

The purpose of this experimental analysis is to verify whether it is possible to acquire ultrasound

images that can extract the features of cardiac diseases in the sitting posture and to ensure ultrasound images

with diagnostic qualities. According to the clinical expert in the field of Echocardiogram, to diagnose

myocardial infarction, valvular disease, and cardiomegaly, which are the major diseases observable by

echocardiography, it is necessary to observe three features: 1) ventricular motion, 2) dynamics and shape

of the valve, and 3) enlargement of the ventricular wall. Then, we first acquired the parasternal long-axis

and apical four-chamber views, which are the basic diagnostic views in which those three features are

depicted. After the acquisition, we assessed that those three features are portrayed in those basic two views

when the posture angle changes. With six healthy subjects, those views were acquired by a clinical expert

in the field of echocardiography. Each view was acquired in the left lateral decubitus position and sitting

posture based on ten conditions. A medical ultrasound system (EPIQ7, Philips, Netherland) and a matrix

array sector probe (X5-1, Philips, Netherland) were used for the ultrasound image acquisition. An optical

tracking sensor (Trio V120, OptiTrack, Japan) attached to the ultrasound probe was used to measure the

position and angle of the ultrasound probe. A diagnostic posture angle adjustment table was used to change

the angle of the sitting posture. The detailed flow of the experiment is described below.

(1) The subject is placed in the left lateral decubitus position. Then we acquire images in the parasternal

long-axis view and the apical 4-chamber view.

(2) The subject is placed in the sitting posture and on the diagnostic posture angle adjustment table. As

shown in Fig 2(a), we performed the following process with probe tracking to obtain the actual patient’s

posture angle: i) with the ensiform process as the starting point of the probe scanning, the probe was

moved left and right and up and down to the nipple position; ii) planar approximation is applied to the

tracked probe positions, and then the actual posture angle of the subject was calculated. In this study, the

X-axis is defined as the front-back direction of the body when standing vertically, and the y-axis is

defined as the left-right direction of the body, as shown in Fig 1(b). Note that θroll and θpitch are defined as

shown in Fig. 2(b).

(3) The probe is moved to the position where the parasternal long-axis view and the apical four-chamber

view can be acquired. Then, the subject stops breathing, and ultrasound images are acquired for two seconds

while the subject is holding his breath. Each view is acquired three times.

文档加载中……请稍候！
如果长时间未打开，您也可以点击刷新试试。

下载文档到电脑，查找使用更方便

10 玖币 0人已下载

立即下载

摘要：

1DiagnosticPostureControlSystemforSeated-StyleEchocardiographyRobotYuukiShida1*，MasamiSugawara1，RyosukeTsumura2，HaruakiChiba3，TokuhisaUejima4HiroyasuIwata51GraduateSchoolofCreativeScienceandEngineering,WasedaUniversity,Tokyo169-8050,Japan2GlobalRobotAcademiaLaboratory,WasedaUniversity,Tokyo169-8050,...

展开>> 收起<<

1 Diagnostic Posture Control System for Seated -Style Echocardiography Robot Yuuki Shida1 Masami Sugawara1 Ryosuke Tsumura2 Haruaki Chiba3Tokuhisa Uejima4.pdf

共12页,预览3页

还剩页未读，继续阅读

声明：本站为文档C2C交易模式，即用户上传的文档直接被用户下载，本站只是中间服务平台，本站所有文档下载所得的收益归上传人(含作者)所有。玖贝云文库仅提供信息存储空间，仅对用户上传内容的表现方式做保护处理，对上载内容本身不做任何修改或编辑。若文档所含内容侵犯了您的版权或隐私，请立即通知玖贝云文库，我们立即给予删除！

1 Diagnostic Posture Control System for Seated -Style Echocardiography Robot Yuuki Shida1 Masami Sugawara1 Ryosuke Tsumura2 Haruaki Chiba3Tokuhisa Uejima4

相关推荐

开通VIP享超值会员特权

作者详情

相关内容

热门标签

举报选择: