Kodai OKUZAKI

University of Electro-Communications

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Tomohiro ISHIKAWA

University of Electro-Communications

Motoyasu SANO

University of Electro-Communications

Ryosuke Tsumura

National Institute of Advanced Industrial Science and Technology

Yu Nishiyama

University of Electro-Communications

Norihiro Koizumi

University of Electro-Communications

Kiyoshi YOSHINAKA

National Institute of Advanced Industrial Science and Technology

Jiayi Zhou

Shanghai University

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University of Electro-Communications

National Institute of Advanced Industrial Science and Technology

Uganda Episcopal Conference

University of Houston

Harvard University

University of California, San Francisco

Chitose Institute of Science and Technology

Dokkyo Medical University

National Institute of Technology, Numazu College

Waseda University

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超音波ロボット初期位置決めのための呼吸変動計測による肋骨検出

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) (2023)

Kodai OKUZAKI Norihiro Koizumi Yu Nishiyama Jiayi Zhou Tomohiro ISHIKAWA

Scanning path planning is an essential technology for fully automated ultrasound (US) robotics. During abdominal US scanning, the ribs are critical body surface landmarks for scanning path planning. We proposed a method for determining the rib region using RGB-D images and respiratory variation. We generated a depth difference image by finding the difference between the depth image taken at the resting inspiratory position and the depth image taken at the maximum inspiratory position, which clearly shows the rib position. The rib position was then determined by yolov5 object detection model to this depth difference image. In the experiment conducted with nine subjects, the proposed method of rib detection using depth difference images marked an IoU of 0.951 and average confidence of 0.77. The average error between the ground truth and predicted positions was 15 pixels ≃ 7.5 mm. The results were superior to rib detection using only the RGB image.

10.1299/jsmermd.2023.2p2-b15

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