Smooth Path Planning and Dynamic Contact Force Regulation for Robotic Ultrasound Scanning

The robotic breast ultrasound scanning (RBUS) system can help sonographer in the early screening of breast cancer. However, it still faces rigorous safety concerns, including non-smooth scanning paths and improper contact force regulation. In this paper, we propose a new path optimization method to improve the scanning smoothness, as well as, a dynamic contact regulation strategy considering both the breast deformation and ultrasound images. For the path planning, the anti-radial scanning approach is first adopted to generate some initial path points together with their normal vectors; then, a dual-objective optimization function is formulated, which considers both the acceleration continuity and deviation of the path, to filter out local path anomalies. For the force control, a contact force-strain regression model is first proposed and used to predict the desired force between the breast and probe at each path point. While within the adjacent path points, an updating algorithm is introduced to dynamically adjust the contact force in real-time by surveying the confidence of the ultrasound image. Our experimental results show that the proposed methods can make the scanning path smoother, and obtain intimate probe-tissue contact with less desired force.