Semi-Autonomous Robotic System for Remote Trauma Assessment
This is an implementation of a semi-autonomous tele-operated robotic system to carry out a remote ultrasound. The project is divided into three parts:
- The control strategy for the tele-manipulated system is developed and presented in the SIAM CT 2019 conference. The detailed article can be found here.
- The sensory part of the system includes human skin detection along with wound, bandage and Umbilicus detection. The skin detection is used for finding scannable regions for carrying out an ultrasound scan. Umbilicus detection is required for localizing the patient whereas the wound and bandage detection is to find regions to avoid whilst conducting the robotic ultrasound scan. The Skin Segmentation is presented in IEEE-BIBE 2019 and can be found here.
- The entire integrated system consisting the control strategy, sensory systems, ultrasound scan comparisons and the architecture of the project is presented again in IEEE-BIBE 2019 and can be found here.
- A Non-Provisional patent regarding the same was also filed in December, 2019.
Publications:
- A. Topiwala, L. Al-Zogbi, T. Fleiter and A. Krieger, “Adaptation and Evaluation of Deep Learning Techniques for Skin Segmentation on Novel Abdominal Dataset,” 2019 IEEE 19th International Conference on Bioinformatics and Bioengineering (BIBE), Athens, Greece, 2019, pp. 752-759.
- B. Mathur et al., “A Semi-Autonomous Robotic System for Remote Trauma Assessment,” 2019 IEEE 19th International Conference on Bioinformatics and Bioengineering (BIBE), Athens, Greece, 2019, pp. 649-656.
- B. Mathur, A. Topiwala, H. Saeidi, T. Fleiter, and A. Krieger, “Evaluation of Control Strategies for a Tele-manipulated Robotic System for Remote Trauma Assessment”, Proceedings of SIAM Conference on Control and Its Applications, Chengdu, China, June 19-21, 2019.
Patents:
- Fleiter, T., Krieger, A., Saeidi, H., Mathur, B., Topiwala, A., Schaffer, S., Kam, M.”A Robotic System for Remote Trauma Assessment”, U.S. Non-Provisional Pat. Ser. No. 16/714,134.