KFU. Card publication. Ultrasound sensor modeling in Gazebo simulator for diagnostics of abdomen pathologies

KAZAN
FEDERAL UNIVERSITY

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ULTRASOUND SENSOR MODELING IN GAZEBO SIMULATOR FOR DIAGNOSTICS OF ABDOMEN PATHOLOGIES

Form of presentation

Conference proceedings in international journals and collections

Year of publication

2021

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Authors, employees of KFU

Abbyasov Bulat Rivalevich, author

Gavrilova Liliya Radikovna, author

Dobrokvashina Aleksandra Sergeevna, author

Lavrenov Roman Olegovich, author

Magid Evgeniy Arkadevich, author

Coy Tatyana Grigorevna, author

Bibliographic description in the original language

Abbyasov B., Dobrokvashina A., Lavrenov R., Kharisova E., Tsoy T., Gavrilova L., Bulatov S., Maslak,E., Schiefermeier-Mach N., Magid E. Ultrasound sensor modeling in Gazebo simulator for diagnostics of abdomen pathologies // The 15th Siberian Conference on Control and Communications (SIBCON 2021) (Kazan, Russia; 13-15 May 2021) (online) - � 9438910.

Annotation

2021 International Siberian Conference on Control and Communications (SIBCON)

Keywords

Medical robotics, Gazebo, ROS, medical ultrasound sensor, non-invasive surgery

The name of the journal

2021 International Siberian Conference on Control and Communications (SIBCON)

URL

https://ieeexplore.ieee.org/document/9438910

Please use this ID to quote from or refer to the card

https://repository.kpfu.ru/eng/?p_id=254376&p_lang=2

Resource files

File name	Size (MB)	Format
F_09438910.pdf	3,21	pdf	show / download

Full metadata record

Field DC	Value	Language
dc.contributor.author	Abbyasov Bulat Rivalevich	ru_RU
dc.contributor.author	Gavrilova Liliya Radikovna	ru_RU
dc.contributor.author	Dobrokvashina Aleksandra Sergeevna	ru_RU
dc.contributor.author	Lavrenov Roman Olegovich	ru_RU
dc.contributor.author	Magid Evgeniy Arkadevich	ru_RU
dc.contributor.author	Coy Tatyana Grigorevna	ru_RU
dc.date.accessioned	2021-01-01T00:00:00Z	ru_RU
dc.date.available	2021-01-01T00:00:00Z	ru_RU
dc.date.issued	2021	ru_RU
dc.identifier.citation	Abbyasov B., Dobrokvashina A., Lavrenov R., Kharisova E., Tsoy T., Gavrilova L., Bulatov S., Maslak,E., Schiefermeier-Mach N., Magid E. Ultrasound sensor modeling in Gazebo simulator for diagnostics of abdomen pathologies // The 15th Siberian Conference on Control and Communications (SIBCON 2021) (Kazan, Russia; 13-15 May 2021) (online) - � 9438910.	ru_RU
dc.identifier.uri	https://repository.kpfu.ru/eng/?p_id=254376&p_lang=2	ru_RU
dc.description.abstract	2021 International Siberian Conference on Control and Communications (SIBCON)	ru_RU
dc.description.abstract	Ultrasound imaging is a widely used technique in medicine. It is a non-invasive medical procedure that uses sound waves to produce pictures of the inside of the human body. Ultrasound helps to diagnose conditions of soft tissues and detecting a wide range of medical diseases and pathologies. This paper presents a 3D model and a Gazebo plugin of a medical ultrasound sensor that performs ultrasound imaging of an abdomen surface. The ultrasound device is represented as an end-effector for a KUKA IIWA LBR manipulator model but can also be used for other manipulator models. We introduce an implementation of a complex abdomen 3D model that consists of fat, muscle, and intestine tissue layers. Each tissue has its unique parameters used by the Gazebo medical ultrasound plugin. The developed ultrasound sensor was successfully tested in the Gazebo simulator and was able to provide visualizing a structure of the abdomen internals for further diagnostics.	ru_RU
dc.language.iso	ru	ru_RU
dc.subject	Medical robotics	ru_RU
dc.subject	Gazebo	ru_RU
dc.subject	ROS	ru_RU
dc.subject	medical ultrasound sensor	ru_RU
dc.subject	non-invasive surgery	ru_RU
dc.title	Ultrasound sensor modeling in Gazebo simulator for diagnostics of abdomen pathologies	ru_RU
dc.type	Conference proceedings in international journals and collections	ru_RU