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Robotic assistance for ultrasound elastography providing autonomous palpation with teleoperation and haptic feedback capabilities

Pedro Patlan-Rosales 1 Alexandre Krupa 1
1 RAINBOW - Sensor-based and interactive robotics
Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
Abstract : Detecting stiff tissue using ultrasound elastogra-phy has been used as a non-invasive technique in the assessment of important diseases. The real-time estimation of tissue elastic parameters depends on the continuous application of an appropriate palpation motion with an ultrasound probe, which can be achieved through the use of a robotic system. To complement ultrasound elastography and further profit from the information it provides, we propose to give to the clinician the ability to physically feel in real-time during the examination the stiffness of a tissue observed in the elastography image by rendering it with a haptic force feedback, enhancing therefore the capacity of the examiner to detect anomalies. We also propose in our robotic palpation system a teleoperation control of the ultrasound probe for navigation purpose during the tissue examination. Experimental results obtained on an abdominal phantom demonstrated the feasibility of our approach.
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Pedro Patlan-Rosales, Alexandre Krupa. Robotic assistance for ultrasound elastography providing autonomous palpation with teleoperation and haptic feedback capabilities. BioRob 2020 - 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, Nov 2020, New York, United States. pp.1-6. ⟨hal-02895069⟩

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