An Anatomy-Aware Shared Control Approach for Assisted Teleoperation of Lung Ultrasound Examinations

• Main Authors: Nardi, Davide, Lamon, Edoardo, Beber, Luca, Fontanelli, Daniele, Saveriano, Matteo, Palopoli, Luigi
• Format: Journal Article
• Language: English
• Published: 25-09-2024
• Subjects: Computer Science - Robotics
• DOI: 10.48550/arxiv.2409.17395

The introduction of artificial intelligence and robotics in telehealth is
enabling personalised treatment and supporting teleoperated procedures such as
lung ultrasound, which has gained attention during the COVID-19 pandemic.
Although fully autonomous systems face challenges due to anatomical
variability, teleoperated systems appear to be more practical in current
healthcare settings. This paper presents an anatomy-aware control framework for
teleoperated lung ultrasound. Using biomechanically accurate 3D models such as
SMPL and SKEL, the system provides a real-time visual feedback and applies
virtual constraints to assist in precise probe placement tasks. Evaluations on
five subjects show the accuracy of the biomechanical models and the efficiency
of the system in improving probe placement and reducing procedure time compared
to traditional teleoperation. The results demonstrate that the proposed
framework enhances the physician's capabilities in executing remote lung
ultrasound examinations, towards more objective and repeatable acquisitions.