Affiliation: Professor, Northeast Dianli University, China
Title: Co-robot Mirror Ultrasound Scanning for Deep Venous Thrombosis Using RGB-D Sensor: preliminary integration and registration
Deep Venous Thrombosis (DVT) is a major cause of morbidity and mortality. Ultrasound (US) image is commonly used in physical exam to evaluate the risk of DVT. However, manually scanning with US probe is too time-consuming for two legs and heavy work for sonographers. This paper proposes a novel “Mirror” robot US scanning system to assist sonographers better perform the diagnoses. The Mirror system is composed of a two-arm robot and a US probe for both master and slave side. On the master side, sonographers hold one robot arm and operate the probe to inspect one leg. On the slave side, the robot follows the master probe on the navigation of Kinect and scans the other leg. 3D images of both legs are segmented and registered to get the mirror-matrix. The master probe’s position and orientation are obtained and mapped to the slave side. The platform with master robot and US probe and Kinect were built up and mirror experiments were carried out.
Dr. Bo Meng is an associate professor of Northeast University since 2011, received her M.S. and Ph.D degrees at Changchun Institute of Fine Mechanics and Physics, Chinese Academy of Sciences China in 2005 and 2008 respectively. She finished post-doctorate studies at Beihang University from 2009 to 2010. She as a visiting scholar worked at Laboratory of Computational Sensing Robotics of Johns Hopkins University, U.S. in 2014. Her research interests include computer vision, object recognition, and object tracking. She undertook several national key technology researches and developed programs of China including one 973-program and one 863-program, also took charge of several provincial programs.