Design, testing and modelling of a novel robotic system for trans‐oesophageal ultrasound

Trans‐oesophageal echocardiography (TOE) has been widely utilized for cardiac disease diagnosis and interventional procedure guidance. However, the TOE operator is required to manually manipulate the probe, often for long periods of time and sometimes in an X‐ray environment where there is exposure to ionizing radiation.

[1]  Gero Strauß,et al.  Image-guided steering of a motorized hand-held flexible rhino endoscope in ENT diagnoses , 2012, 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO).

[2]  Philippe Zanne,et al.  Robotic Assistance to Flexible Endoscopy by Physiological-Motion Tracking , 2011, IEEE Transactions on Robotics.

[3]  N. Silverman,et al.  Transesophageal echocardiography (TEE) in congenital heart disease with focus on the adult. , 2000, Cardiology clinics.

[4]  Stephen Balter,et al.  Occupational hazards of interventional cardiologists: Prevalence of orthopedic health problems in contemporary practice , 2004, Catheterization and cardiovascular interventions : official journal of the Society for Cardiac Angiography & Interventions.

[5]  Ian D. Walker,et al.  Kinematics for multisection continuum robots , 2006, IEEE Transactions on Robotics.

[6]  T. Podder,et al.  Robotic system for prostate brachytherapy , 2007, Computer aided surgery : official journal of the International Society for Computer Aided Surgery.

[7]  Richard M. Murray,et al.  A Mathematical Introduction to Robotic Manipulation , 1994 .

[8]  John Kenneth Salisbury,et al.  Mechanics Modeling of Tendon-Driven Continuum Manipulators , 2008, IEEE Transactions on Robotics.

[9]  C. Herrera,et al.  The Practice of Clinical Echocardiography , 2002 .

[10]  S. Umeyama,et al.  Least-Squares Estimation of Transformation Parameters Between Two Point Patterns , 1991, IEEE Trans. Pattern Anal. Mach. Intell..

[11]  P. Kapoor,et al.  Thoracic epidural anesthesia in cardiac surgery--current standing. , 2009, Annals of cardiac anaesthesia.

[12]  Christin Wirth.  The Essential Physics of Medical Imaging , 2003, European Journal of Nuclear Medicine and Molecular Imaging.

[13]  M. Brickner,et al.  Transesophageal Echocardiography: Clinical Indications and Applications , 2003, Circulation.

[14]  YingLiang Ma,et al.  Registration of 3D trans-esophageal echocardiography to X-ray fluoroscopy using image-based probe tracking , 2012, Medical Image Anal..

[15]  Peter Kazanzides,et al.  Robotic assistance for ultrasound-guided prostate brachytherapy , 2008, Medical Image Anal..

[16]  J D Thomas,et al.  Clinical utility of echocardiography in the management of implantable ventricular assist devices. , 2000, Journal of the American Society of Echocardiography : official publication of the American Society of Echocardiography.

[17]  M. Cahalan,et al.  Improved evaluation of the location and mechanism of mitral valve regurgitation with a systematic transesophageal echocardiography examination. , 1999, Anesthesia and analgesia.

[18]  Frank Ranallo,et al.  Radiation safety for the cardiac sonographer: recommendations of the Radiation Safety Writing Group for the Council on Cardiovascular Sonography of the American Society of Echocardiography. , 2014, Journal of the American Society of Echocardiography : official publication of the American Society of Echocardiography.

[19]  Kaspar Althoefer,et al.  Development of a Robotic Trans-esophageal Ultrasound Probe Manipulator , 2014 .

[20]  Robert D. Howe,et al.  Automated pointing of cardiac imaging catheters , 2013, 2013 IEEE International Conference on Robotics and Automation.

[21]  Dan Stoianovici,et al.  Robot for ultrasound-guided prostate imaging and intervention , 2011, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[22]  R. Doll,et al.  Cancer risks attributable to low doses of ionizing radiation: Assessing what we really know , 2003, Proceedings of the National Academy of Sciences of the United States of America.

[23]  S. J. Phee,et al.  Master and slave transluminal endoscopic robot (MASTER) for natural Orifice Transluminal Endoscopic Surgery (NOTES) , 2009, 2009 Annual International Conference of the IEEE Engineering in Medicine and Biology Society.

[24]  M. Saric,et al.  Esophageal Perforation, the Most Feared Complication of TEE: Early Recognition by Multimodality Imaging , 2011, Echocardiography.

[25]  A. Ross,et al.  Prevalence of spinal disc disease among interventional cardiologists. , 1997, The American journal of cardiology.