Robotized Tele-Echography

@article{krupa2016,
  author = {Krupa, Alexandre and Folio, David and Novales, Cyril and
    Vieyres, Pierre and Li, Tao},
  publisher = {IEEE},
  title = {Robotized {Tele-Echography}},
  journal = {IEEE Systems Journal},
  volume = {10},
  number = {3},
  pages = {974-983},
  date = {2016-09-01},
  url = {https://dfolio.fr/publications/articles/2016taoISJ.html},
  doi = {10.1109/JSYST.2014.2314773},
  issn = {1932-8184},
  langid = {en},
  abstract = {This paper presents a robotized tele-echography system
    with an assisting visibility mode that helps the medical expert
    diagnosis. This autonomous mode is based on a multitask control
    approach that maintains the visibility of an anatomic element of
    interest while the medical expert tele-operates a 2D ultrasound
    probe held by a 4-DoF robot. The main task is used to automatically
    maintain several visual constraints that guarantee an intersection
    between the US image plane and the organ of interest. A secondary
    task allows the medical expert to manually apply the probe motion
    through the tele-operation mode. The main advantage of this approach
    is to give to the clinician the control of all the degrees of
    freedom of the probe to examine the patient while automatically
    preserving the visibility of the organ of interest when required.
    Experimental results, performed on a phantom and human abdomen,
    demonstrate the efficiency of the visibility assistance task.}
}