通过人体解剖感知控制，提升远程肺部超声操作效率
An Anatomy-Aware Shared Control Approach for Assisted Teleoperation of Lung Ultrasound Examinations
- 基于生物力学3D建模，动态约束探头姿态
- 4点扫描任务执行时间减少20%以上
- 适合缺乏经验的医生快速上手远程操作
尽管完全自主系统因患者解剖结构差异仍面临挑战，远程操作在当前医疗环境中更具可行性。本文提出一种面向肺部超声的解剖感知控制框架，利用生物力学精确的3D建模，在探头姿态上施加虚拟约束，并提供实时视觉反馈以辅助精准定位。通过两阶段评估：第一阶段由5名无经验操作者对1名志愿者进行测试，验证模型准确性和新手操作体验；第二阶段由1名经验丰富的操作者对6名志愿者进行测试，重点比较系统在探头定位效率和检查时间上的表现。结果表明，该框架显著提升了医生远程执行肺部超声的能力，4点采集任务平均耗时减少超过20%，推动检查更快速、客观且可重复。
原文摘要 · Abstract (English)
Although fully autonomous systems still face challenges due to patients' 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. Leveraging biomechanically accurate 3D modelling, the system applies virtual constraints on the ultrasound probe pose and provides real-time visual feedback to assist in precise probe placement tasks. A twofold evaluation, one with 5 naive operators on a single volunteer and the second with a single experienced operator on 6 volunteers, compared our method with a standard teleoperation baseline. The results of the first one characterised the accuracy of the anatomical model and the improved perceived performance by the naive operators, while the second one focused on 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, reducing more than 20% of execution time on 4-point acquisitions, towards faster, more objective and repeatable exams.
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