Robot-assisted Breast Ultrasound Scanning Using Geometrical Analysis of the Seroma and Image Segmentation
Mojtaba Akbari,Jay Carriere,Ron Sloboda,Tyler Meyer,Nawaid Usmani,Siraj Husain,Mahdi Tavakoli,Mojtaba Akbari,Jay Carriere,Ron Sloboda,Tyler Meyer,Nawaid Usmani,Siraj Husain,Mahdi Tavakoli
In this paper, we propose a robotic ultrasound imaging method that scans the breast in two separate phases to acquire high-quality ultrasound images. Our proposed system controls five Degrees of Freedom (DoFs) of the robot that hold an ultrasound probe to perform precise scanning. This system finds the desired trajectory based on geometrical analysis of the target inside the breast in a pre-scan p...
