π Towards a Simple Framework of Skill Transfer Learning for Robotic Ultrasound-guidance Procedures
Tsz Yan Leung 2 and Miguel Xochicale 1
1 University College London, and 2 Kingβs College London
In this paper, we present a simple framework of skill transfer learning for robotic ultrasound-guidance procedures. We briefly review challenges in skill transfer learning for robotic ultrasound-guidance procedures. We then identify the need of appropriate sampling techniques, computationally efficient neural networks models that lead to the proposal of a simple framework of skill transfer learning for real-time applications in robotic ultrasound-guidance procedures. We present pilot experiments from two participants (one experienced clinician and one non-clinician) looking for an optimal scanning plane of the four-chamber cardiac view from a fetal phantom. We analysed ultrasound image frames, time series of texture image features and quaternions and found that the experienced clinician performed the procedure in a quicker and smoother way compared to lengthy and non-constant movements from non-clinicians. For future work, we pointed out the need of pruned and quantised neural network models for real-time applications in robotic ultrasound-guidance procedure. The resources to reproduce this work are available at \url{https://github.com/mxochicale/rami-icra2023}.
Figure. (a) Ultrasound-guidance procedures: sonographer operating an ultrasound machine with fetal phantom and sensor fusion signals from inertial sensors and ultrasound imaging;
(b) Simple framework for skill transfer learning: collecting experience with sensors (
Important dates:
- Abstract Submission Deadline: 15th March 2023οΌ (extension 24th March 2023)
- Author Notification: 1st April 2023
- Workshop Date: 29th May 2023
See program, accepted papers and further information about the 2023 ICRA-RAMI workshop π.
- Generate your SSH keys as suggested here (or here)
- Clone the repository by typing (or copying) the following line in a terminal at your selected path in your machine:
cd && mkdir -p $HOME/repositories/mxochicale && cd $HOME/repositories/mxochicale
git clone git@github.com:mxochicale/rami-icra2023.git
BibTeX to cite
@misc{leung-xochicale-rami-icra2023,
author={
Tsz Yan Leung and
Miguel Xochicale},
title={
Towards a Simple Framework of Skill Transfer Learning for
Robotic Ultrasound-guidance Procedures},
year={2023},
eprint={2305.04004},
archivePrefix={arXiv},
primaryClass={cs.RO}
}
Thanks goes to all these people (emoji key):
Goosie Leung π» π€ π§ |
Miguel Xochicale π» π¬ π€ π§ π π§ |
This work follows the all-contributors specification.
Contributions of any kind welcome!