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Deep Venous Thrombosis (DVT) is a common vascular disease with blood clotsinside deep veins, which may block blood flow or even cause a life-threateningpulmonary embolism. A typical exam for DVT using ultrasound (US) imaging is bypressing the target vein until its lumen is fully compressed. However, thecompression exam is highly operator-dependent. To alleviate intra- andinter-variations, we present a robotic US system with a novel hybrid forcemotion control scheme ensuring position and force tracking accuracy, and softlanding of the probe onto the target surface. In addition, a path-based virtualfixture is proposed to realize easy human-robot interaction for repeatcompression operation at the lesion location. To ensure the biometricmeasurements obtained in different examinations are comparable, the 6D scanningpath is determined in a coarse-to-fine manner using both an external RGBDcamera and US images. The RGBD camera is first used to extract a rough scanningpath on the object. Then, the segmented vascular lumen from US images are usedto optimize the scanning path to ensure the visibility of the target object. Togenerate a continuous scan path for developing virtual fixtures, an arc-lengthbased path fitting model considering both position and orientation is proposed.Finally, the whole system is evaluated on a human-like arm phantom with anuneven surface.

Robot-Assisted Deep Venous Thrombosis Ultrasound Examination using Virtual Fixture