Shuangyi Wang

Chinese Academy of Sciences | CAS · Institute of Automation

Simulation-based ultrasonography training has been proven to be effective for novice practitioners to acquire operation skills. However, existing simulators are cumbersome, expensive, and sometimes fail to provide intuitive and interactive training experience. In this article, a compact, inexpensive, and interactive ultrasonography simulator is dev...

Continuum robots are increasingly used in medical applications and the master–slave-based architectures are still the most important mode of operation in human–machine interaction. However, the existing master control devices are not fully suitable for either the mechanical mechanism or the control method. This study proposes a brand-new, four-degr...

The robotic transesophageal ultrasound system has the potential to improve the conventional practice of diagnosis and procedure guidance that are currently performed manually. However, the existing system has obvious shortcomings in both mechanism design and safety control under remote teleoperation. This article proposed a new compact mechanism de...

Medical ultrasound is of increasing importance in medical diagnosis and intraoperative assistance and possesses great potential advantages when integrated with robotics. However, some concerns, including the operation efficiency, operation safety, image quality, and comfort of patients, remain after introducing robotics into medical ultrasound. In...

Robotic ultrasonography potentially acts as an essential aid to medical diagnosis. To overcome the limitations in robotic ultrasonography, in this paper, we proposed a novel self-adaptive parallel manipulator (SAPM) that can automatically adjust the ultrasound (US) probe pose to adapt to various contours of scanned areas, provide approximate consta...

Despite recent breakthroughs in diagnosis and treatment, congenital heart defects (CHDs) continue to be the leading cause of death among newborns. Fetal echocardiography is the most effective and non-invasive method for the prenatal diagnosis of CHDs. However, the challenge of obtaining standard views can lead to a low diagnostic accuracy. To explo...

The advent of transesophageal ultrasound robots has provided a new idea to simplify relevant clinical procedures. However, the existing add-on robots often lack the ability to predict the contact force between the probe tip and the tissue. This makes the control of this robot under teleoperation lacking in tactile feedback and difficult to obtain e...

Although teleconsultation and robot-based remote teleoperation in ultrasonography have facilitated reliable image acquisition, lack of training still seriously affects the accuracy of ultrasound diagnosis. In order to improve physicians’ scanning skills, a more efficient training process is needed. However, present ultrasound training methods, such...

In this paper, a new electromagnetic angular position sensing method using high-magnetic-permeability metal (e.g., mu-metal) is proposed for measurement of joint angles of rotational mechanisms. An electromagnet and magnetic sensors are both located on one mechanical part and the mu-metal element is located on the other mechanical part with relativ...

In this letter, a new 3-D electromagnetic position sensing method is proposed for localization of continuum medical robots. An electromagnet and magnetic sensors are placed outside the human body while only a piece of passive mu-metal with high magnetic permeability is attached to the robot moving inside the body, resulting in a wireless non-contac...

The COVID-19 outbreak has caused the mortality worldwide and the use of swab sampling is a common way of screening and diagnosis. To combat respiratory infectious diseases and assist sampling, robots have been utilized and shown promising potentials. Nonetheless, a safe, patient-friendly, and low-cost swabbing system would be crucial for the practi...

Remote ultrasound diagnosis using a hand-held platform with robotized parallel mechanisms could be a safe and cost-effective solution. However, the biggest difficulty is that the workspace of such mechanism is often small and it is difficult to determine the parameters of the design configuration. In this study, we propose a two-step strategy to op...

Robotic intra-operative ultrasound has the potential to improve the conventional practice of diagnosis and procedure guidance that are currently performed manually. Working towards automatic or semi-automatic ultrasound, being able to define ultrasound views and the corresponding probe poses via intelligent approaches become crucial. Based on the c...

Force and collision control is a primary concern to guarantee the safe use of medical robots as such systems normally need to interact with clinicians and patients, while at the same time cooperate with other devices. Among different strategies, passive features working with intrinsically safety components are treated as one of the most effective a...

In this paper, we propose a novel constant-force end-effector (CFEE) to address current limitations in robotic ultrasonography. The CFEE use a parallel, motor-spring-based solution to precisely generate constant operating forces over a wide range and enable the ultrasound (US) probe to adapt to the abdominal contours autonomously. A displacement me...

Standardized acquisitions and diagnoses using robots and AI would potentially increase the general usability and reliability of medical ultrasound. Working towards this prospect, this paper presents the recent developments of a standardized acquisition workflow using a novel dual-probe ultrasound robot, for a project known as intelligent Fetal Imag...

Nasopharyngeal (NP) swab sampling is an effective approach for the diagnosis of coronavirus disease 2019 (COVID-19). Medical staffs carrying out the task of collecting NP specimens are in close contact with the suspected patient, thereby posing a high risk of cross-infection. We propose a low-cost miniature robot that can be easily assembled and re...

Organ phantoms are widely used for evaluating medical technologies, training clinical practitioners, as well as surgical planning. In the context of cardiovascular disease, a patient-specific cardiac phantom can play an important role for interventional cardiology procedures. However, phantoms with complicated structures are difficult to fabricate...

A robotic trans-esophageal echocardiography (TEE) probe has been recently developed to address the problems with manual control in the X-ray environment when a conventional probe is used for interventional procedure guidance. However, the robot was exclusively to be used in local areas and the effectiveness of remote control has not been scientific...

Presents corrections in the above named paper.

A robotic trans-esophageal echocardiography (TEE) probe has been recently developed to address the problems with manual control in the X-ray envi-ronment when a conventional probe is used for interventional procedure guidance. However, the robot was exclusively to be used in local areas and the effectiveness of remote control has not been scientifi...

Nasopharyngeal (NP) swab sampling is an effective approach for the diagnosis of coronavirus disease 2019 (COVID-19). Medical staffs carrying out the task of collecting NP specimens are in close contact with the suspected patient, thereby posing a high risk of cross-infection. We propose a low-cost miniature robot that can be easily assembled and re...

Objective: In this work we address limitations in state-of-the-art ultrasound robots by designing and integrating a novel soft robotic system for ultrasound imaging. It employs the inherent qualities of soft fluidic actuators to establish safe, adaptable interaction between ultrasound probe and patient. Methods: We acquire clinical data to deter...

Measuring forces and torques applied to tools of unconventional shapes can be challenging due to difficulties in connecting commercially available force/torque sensors. We propose an innovative, customizable six-axis force/torque sensor which can be clamped around a tool or end-effector to minimize the proximity between tool tip and sensor structur...

The development of robotic-assisted extracorporeal ultrasound systems has a long history and a number of projects have been proposed since the 1990s focusing on different technical aspects. These aim to resolve the deficiencies of on-site manual manipulation of hand-held ultrasound probes. This paper presents the recent ongoing developments of a se...

In this work we address limitations in state-of-the-art ultrasound robots by designing and integrating the first soft robotic system for ultrasound imaging. It makes use of the inherent qualities of soft robotics technologies to establish a safe, adaptable interaction between ultrasound probe and patient. We acquire clinical data to establish the m...

Robotic systems have great potential to assist ultrasound (US) examination. Currently, the safety management method to limit the force that a US robot can apply mostly relies on force sensing and software-based algorithms. This causes the concern that the potential failure of sensors, electrical systems, or software could lead to patient injuries....

The development of robotic-assisted extracorporeal ultrasound systems has a long history and a number of projects have been proposed since the 1990s focusing on different technical aspects. These aim to resolve the deficiencies of on-site manual manipulation of hand-held ultrasound probes. This paper presents the recent ongoing developments of a se...

Trans-esophageal echocardiography (TEE) is a miniatured intra-operative ultrasound system, widely used in routine diagnosis and interventional procedure monitoring, to assess cardiac structures and functions. As a way to assist the operation of TEE remotely, we have developed an add-on robotic system to actuate a commercial TEE probe. For the propo...

With the potential for high precision, dexterity, and repeatability, a self-tracked robotic system can be employed to assist the acquisition of real-time ultrasound. However, limited numbers of robots designed for extra-corporeal ultrasound have been successfully translated into clinical use. In this study, we aim to build a bespoke robotic manipul...

Trans-esophageal echocardiography (TEE) is an important type of scan for cardiac disease diagnoses and treatments. As an efficient way to facilitate training, simulation systems have been introduced in recent years. However, the existing systems involve great expense for equipment and some should be based on the limited image database, making them...

In recent years, 3D trans-oesophageal echocardiography (TOE) has become widely used for monitoring cardiac interventions. The control of the TOE probe during the procedure is a manual task which is tedious and harmful for the operator when exposed to radiation. To improve this technique, an add-on robotic system has been developed for holding and m...

3D trans-oesophageal echocardiography (TOE) has become a powerful tool for monitoring intra-operative catheters used during cardiac procedures in recent years. However, the control of the TOE probe remains as a manual task and therefore the operator has to hold the probe for a long period of time and sometimes in a radiation environment. To solve t...

Trans-oesophageal echocardiography (TOE) has been widely utilized for cardiac disease diagnosis and interventional procedure guidance. However, the TOE operator is required to manually manipulate the probe, often for long periods of time and sometimes in an X-ray environment where there is exposure to ionising radiation. Considering these challenge...

In a master-slave robot-assisted surgery system, it is of critical value to recognise surgical conditions through sensing elements, since surgeons operate surgical instruments that are inside the body by remote control. A force sensor, one of the sensing elements, assists to feel the sense of telepresenc. With a 'good' force sensor, surgical manipu...

Robotic trans-esophageal echocardiography (TEE) has many advantages over the traditional manual control approach during cardiac surgical procedures in terms of stability, remote operation, and radiation safety. To further improve the usability of the robotic approach, development of an intelligent system using automatic acquisition of ultrasound im...

Automatic ultrasound acquisitions using medical robots would greatly increase the general usability of medical ultrasound with the added benefits of remote control and built-in intelligence. However, novel methods are required to provide an overall workflow linking robotic systems with ultrasound acquisitions. Based on a newly developed robot for t...

Trans-oesophageal echocardiography (TOE) has been widely utilized for cardiac disease diagnosis and interventional procedure guidance. However, the TOE operator is required to manually manipulate the probe, often for long periods of time and sometimes in an X-ray environment where there is exposure to ionizing radiation. A novel robotic manipulatio...

1 Background Trans-esophageal echocardiography (TEE) is an important means of assessing the heart structure and function. It has been widely utilized for cardiac disease indication since it was introduced over a decade ago. The short distance between the transducer and the heart allows for the use of higher frequency transducers, yielding better sp...