Robot-Assisted Autonomous Ultrasound Imaging for Carotid Artery

Cardiovascular disease is known as the number one cause of death worldwide. Ultrasound imaging is widely used to assess and predict the risk of cardiovascular disease. Extensive research on robotic ultrasound systems has addressed the problems of over-reliance on physician experience in the application of ultrasound, unequal distribution of medical resources, and mutual exposure of patients and physicians to infections. The human carotid artery requires more standardization, safety, and intelligence in applying robotic ultrasound systems due to its sensitive location and inconspicuous skin features. This paper introduces an innovative robot-assisted system for autonomous ultrasound scanning of the carotid artery. The system employs a structured two-stage approach, encompassing pre-scanning and scanning, to enhance the precision and efficiency of the procedure. It utilizes advanced image servo control for intelligent scanning path determination, significantly improving the quality and speed of scans. Moreover, the system’s capability to alternate between transverse and longitudinal scanning modes allows it to accommodate the unique anatomical differences of individual patients. Experimental results on real human subjects showed a success rate of 86.11% for scanning the desired carotid artery ultrasound images, which is promising for clinical applications.