Hybrid inertial-manipulator based position tracking system for ultrasound imaging application

In medical field, ultrasound imaging is one of the imaging modalities that needs position tracking system (PTS) in enlarging field of view (FoV) of an image. The enlarged FoV will result easier scanning procedure, and produce more accurate and comprehensive results. To overcome the weakness of comme...

Full description

Saved in:

Bibliographic Details
Main Author:	Mohd. Fadzil, Muhaimin
Format:	Thesis
Language:	English
Published:	2017
Subjects:	TK Electrical engineering Electronics Nuclear engineering
Online Access:	http://eprints.utm.my/id/eprint/78846/1/MuhaiminMohdFadzilMFKE2017.pdf
Tags:	Add Tag No Tags, Be the first to tag this record!

id	my-utm-ep.78846
record_format	uketd_dc
spelling	my-utm-ep.788462018-09-17T04:21:12Z Hybrid inertial-manipulator based position tracking system for ultrasound imaging application 2017-11 Mohd. Fadzil, Muhaimin TK Electrical engineering. Electronics Nuclear engineering In medical field, ultrasound imaging is one of the imaging modalities that needs position tracking system (PTS) in enlarging field of view (FoV) of an image. The enlarged FoV will result easier scanning procedure, and produce more accurate and comprehensive results. To overcome the weakness of commercially available PTSs which suffer from interference and occlusion, many researchers proposed improved PTSs. However, the improved PTSs focused on the portability and compact design, neglecting the vertical scanning aspect which is also important in ultrasound imaging. Hence, this research presents the development of hybrid inertial-manipulator based PTS for 3-dimensional (3D) ultrasound imaging system which capable of measuring the horizontal and vertical scanning movements. The proposed PTS uses the combination of inertial measurement unit sensor and manipulator. The research involves design and evaluation processes for the PTS. Once the design process of the PTS is completed, forward kinematics is calculated using Denavit-Hartenberg conversion. The next step is to evaluate the accuracy and repeatability of the output of the designed PTS by comparing with five sets of reference trajectory of ABB robot. A comparison of the accuracy for the proposed PTS with three other available PTSs is done using the horizontal movement’s error. The experimental results showed high repeatability of position output reading of the designed PTS with standard deviation of 0.27 mm in all different movements and speeds. The proposed PTS is suitable to be used in ultrasound imaging as the error is less than 1.45 mm. Furthermore, the proposed PTS can measure the vertical scanning movement which is neglected in all the previous works, thus fulfilling the main objective of the research. 2017-11 Thesis http://eprints.utm.my/id/eprint/78846/ http://eprints.utm.my/id/eprint/78846/1/MuhaiminMohdFadzilMFKE2017.pdf application/pdf en public http://dms.library.utm.my:8080/vital/access/manager/Repository/vital:109578 masters Universiti Teknologi Malaysia, Faculty of Electrical Engineering Faculty of Electrical Engineering
institution	Universiti Teknologi Malaysia
collection	UTM Institutional Repository
language	English
topic	TK Electrical engineering Electronics Nuclear engineering
spellingShingle	TK Electrical engineering Electronics Nuclear engineering Mohd. Fadzil, Muhaimin Hybrid inertial-manipulator based position tracking system for ultrasound imaging application
description	In medical field, ultrasound imaging is one of the imaging modalities that needs position tracking system (PTS) in enlarging field of view (FoV) of an image. The enlarged FoV will result easier scanning procedure, and produce more accurate and comprehensive results. To overcome the weakness of commercially available PTSs which suffer from interference and occlusion, many researchers proposed improved PTSs. However, the improved PTSs focused on the portability and compact design, neglecting the vertical scanning aspect which is also important in ultrasound imaging. Hence, this research presents the development of hybrid inertial-manipulator based PTS for 3-dimensional (3D) ultrasound imaging system which capable of measuring the horizontal and vertical scanning movements. The proposed PTS uses the combination of inertial measurement unit sensor and manipulator. The research involves design and evaluation processes for the PTS. Once the design process of the PTS is completed, forward kinematics is calculated using Denavit-Hartenberg conversion. The next step is to evaluate the accuracy and repeatability of the output of the designed PTS by comparing with five sets of reference trajectory of ABB robot. A comparison of the accuracy for the proposed PTS with three other available PTSs is done using the horizontal movement’s error. The experimental results showed high repeatability of position output reading of the designed PTS with standard deviation of 0.27 mm in all different movements and speeds. The proposed PTS is suitable to be used in ultrasound imaging as the error is less than 1.45 mm. Furthermore, the proposed PTS can measure the vertical scanning movement which is neglected in all the previous works, thus fulfilling the main objective of the research.
format	Thesis
qualification_level	Master's degree
author	Mohd. Fadzil, Muhaimin
author_facet	Mohd. Fadzil, Muhaimin
author_sort	Mohd. Fadzil, Muhaimin
title	Hybrid inertial-manipulator based position tracking system for ultrasound imaging application
title_short	Hybrid inertial-manipulator based position tracking system for ultrasound imaging application
title_full	Hybrid inertial-manipulator based position tracking system for ultrasound imaging application
title_fullStr	Hybrid inertial-manipulator based position tracking system for ultrasound imaging application
title_full_unstemmed	Hybrid inertial-manipulator based position tracking system for ultrasound imaging application
title_sort	hybrid inertial-manipulator based position tracking system for ultrasound imaging application
granting_institution	Universiti Teknologi Malaysia, Faculty of Electrical Engineering
granting_department	Faculty of Electrical Engineering
publishDate	2017
url	http://eprints.utm.my/id/eprint/78846/1/MuhaiminMohdFadzilMFKE2017.pdf
_version_	1747818085673336832

Hybrid inertial-manipulator based position tracking system for ultrasound imaging application

Similar Items