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courses:456:2022:projects:456-2022-07:project-07 [2022/04/07 18:00] – [Reports and presentations] ychen506courses:456:2022:projects:456-2022-07:project-07 [2022/05/17 16:35] (current) – [Reports and presentations] ychen506
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 ======Background, Specific Aims, and Significance====== ======Background, Specific Aims, and Significance======
-Mammography is an important test for reducing breast cancer mortality, but it is not without its problems. Over 40 million screenings are performed each year and around 6 million of those tests result in a the patient being called back to the office for further screening. With only around 350,000 patients diagnosed with breast cancer per year, this means there is a lot of wasted time and money both on the patient's side and doctor's side.+Mammography is an important test for reducing breast cancer mortality, but it is not without its problems. Over 40 million screenings are performed each year and around 6 million of those tests result in the patient being called back to the office for further screening. With only around 350,000 patients diagnosed with breast cancer per year, this means there is a lot of wasted time and money both on the patient's side and doctor's side.
  
 This project aims to add Ultrasound imaging to the Mammogram screening procedure in order to lower the percentage of patients that require further testing. To do this, a robotic system is being designed that will autonomous move across the patient's breasts after the X-Ray images are taken and acquire Ultrasound images of any regions of concern that may be present. This project aims to add Ultrasound imaging to the Mammogram screening procedure in order to lower the percentage of patients that require further testing. To do this, a robotic system is being designed that will autonomous move across the patient's breasts after the X-Ray images are taken and acquire Ultrasound images of any regions of concern that may be present.
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     - Calibration of the robotic arm.     - Calibration of the robotic arm.
     - Setup of the imaging validation and tests.     - Setup of the imaging validation and tests.
-    - Hand-over hand control of the robot (already developed but needs to be integrated) 
     - Simple motion planning to land the ultrasound probe on a specific location on the compression plate. Offline (open loop) control, directing ultrasound probe to lesion from target.     - Simple motion planning to land the ultrasound probe on a specific location on the compression plate. Offline (open loop) control, directing ultrasound probe to lesion from target.
  
  
   * **Expected:** (April 22)   * **Expected:** (April 22)
-    - A real-time interface to acquire stereo camera and ultrasound images.+    - A real-time interface to acquire camera and ultrasound images.
     - With the developed real-time interface, demonstrate automatic ultrasound acquisition of a region of interest (whole lesion) with a known location with respect to the tracking tag on the compression plate.      - With the developed real-time interface, demonstrate automatic ultrasound acquisition of a region of interest (whole lesion) with a known location with respect to the tracking tag on the compression plate. 
     - Documentation     - Documentation
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 {{:courses:456:2022:projects:456-2022-07:dep_2.png?600|}} {{:courses:456:2022:projects:456-2022-07:dep_2.png?600|}}
 ======Milestones and Status ====== ======Milestones and Status ======
-  - Milestone name:  Camera Calibration+  * Milestone name:  Camera Calibration
     * Planned Date: Feb 27     * Planned Date: Feb 27
     * Expected Date: Feb 27     * Expected Date: Feb 27
     * Status: Completed     * Status: Completed
  
-  - Milestone name:  UR5 Calibration+  * Milestone name:  UR5 Calibration
     * Planned Date: Feb 27     * Planned Date: Feb 27
     * Expected Date: Feb 27     * Expected Date: Feb 27
     * Status: Completed     * Status: Completed
  
-  - Milestone name:  Hand Eye Calibration+  * Milestone name:  Hand Eye Calibration
     * Planned Date: March 4     * Planned Date: March 4
     * Expected Date: March 4     * Expected Date: March 4
-    * Status: In Progress +    * Status: Completed
- +
-  - Milestone name:  Ultrasound Probe Calibration +
-    * Planned Date: April 20 +
-    * Expected Date: April 20 +
-    * Status: Not Started+
  
-  - Milestone name:  Hand over Hand Control Integration+  * Milestone name:  Hand over Hand Control Integration
     * Planned Date: March 11     * Planned Date: March 11
     * Expected Date: March 11     * Expected Date: March 11
-    * Status: In Progress+    * Status: Removed
  
-  - Milestone name:  Offline Motion Planning to Lesion Site+  * Milestone name:  Offline Motion Planning to Lesion Site
     * Planned Date: April 15     * Planned Date: April 15
-    * Expected Date: April 15 +    * Expected Date: April 12 
-    * Status: Not Started+    * Status: Completed
  
-  - Milestone name:  “Wobble Motion” at Lesion Site+  * Milestone name:  “Wobble Motion” at Lesion Site
     * Planned Date: April 15     * Planned Date: April 15
     * Expected Date: April 15     * Expected Date: April 15
-    * Status: Not Started+    * Status: Completed
  
-  - Milestone name:  Adaptive Motion Planning+  * Milestone name:  Ultrasound Probe Calibration 
 +    * Planned Date: April 20 
 +    * Expected Date: April 20 
 +    * Status: Completed 
 + 
 +  * Milestone name:  Adaptive Motion Planning
     * Planned Date: April 29     * Planned Date: April 29
     * Expected Date: April 29     * Expected Date: April 29
-    * Status: Not Started+    * Status: Completed
  
-  - Milestone name:  Force Sensitive “Wobble”+  * Milestone name:  Force Sensitive “Wobble”
     * Planned Date: April 29     * Planned Date: April 29
     * Expected Date: April 29     * Expected Date: April 29
-    * Status: Not Started+    * Status: Completed
  
-  - Milestone name:  US - CT Registration+  * Milestone name:  US - CT Registration
     * Planned Date: April 29     * Planned Date: April 29
     * Expected Date: April 29     * Expected Date: April 29
-    * Status: Not Started+    * Status: Continue on summer 
 ======Reports and presentations====== ======Reports and presentations======
  
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   * Project Background Reading     * Project Background Reading  
     * See Bibliography below for links.     * See Bibliography below for links.
-    * {{ {{ :courses:456:2022:projects:456-2022-07:background_reading_presentation.pdf | Background Reading Report}}+    * {{ {{ :courses:456:2022:projects:456-2022-07:background_reading_presentation.pdf | Background Reading Presentation}}
     * {{ :courses:456:2022:projects:456-2022-07:background_reading_report_1_.pdf |Background Reading Report}}     * {{ :courses:456:2022:projects:456-2022-07:background_reading_report_1_.pdf |Background Reading Report}}
     * {{ :courses:456:2022:projects:456-2022-07:phantom_with_multiple_active_points_for_ultrasound_calibration.pdf | Background Reading Paper - Phantom with Multiple Active Points for Ultrasound Calibration}}     * {{ :courses:456:2022:projects:456-2022-07:phantom_with_multiple_active_points_for_ultrasound_calibration.pdf | Background Reading Paper - Phantom with Multiple Active Points for Ultrasound Calibration}}
   * Project Checkpoint   * Project Checkpoint
-    * {{:courses:456:2022:projects:456-2022-01:checkpoint_presentation.pdf| Project checkpoint presentation}}+    * {{ :courses:456:2022:projects:456-2022-07:checkpoint_presentation.pdf | Project checkpoint presentation}}
   * Project Final Presentation   * Project Final Presentation
-    * {{:courses:456:2022:projects:456-2022-01:final_poster_pdf.pdf|PDF of Poster}}+    * {{:courses:456:2022:projects:456-2022-07:cis_2_project_poster_template.pptx.pdf|PDF of Poster}}
   * Project Final Report   * Project Final Report
-    * {{:courses:456:2022:projects:456-2022-01:final_report.pdf|Final Report}} +    * {{:courses:456:2022:projects:456-2022-07:final_report_1_.pdf|Final Report}}
-    * links to any appendices or other material +
 ======Project Bibliography======= ======Project Bibliography=======
   * Wendie, A., Berg, M. D., & Jeffrey, D. (2008). Combined Screening with Ultrasound and mammography compared to mammography alone in women at elevated risk of breast cancer: results of the first-year screen in ACRIN 6666. JAMA, 299(18), 2151-2163.   * Wendie, A., Berg, M. D., & Jeffrey, D. (2008). Combined Screening with Ultrasound and mammography compared to mammography alone in women at elevated risk of breast cancer: results of the first-year screen in ACRIN 6666. JAMA, 299(18), 2151-2163.
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 ======Other Resources and Project Files====== ======Other Resources and Project Files======
 Here give list of other project files (e.g., source code) associated with the project.  If these are online give a link to an appropriate external repository or to uploaded media files under this name space (2022-01). Here give list of other project files (e.g., source code) associated with the project.  If these are online give a link to an appropriate external repository or to uploaded media files under this name space (2022-01).
 +
 +  * Github Repository: [[https://github.com/KevinWang905/Co-Robotic-Ultrasound-Mammography]]
 +  * Google Drive: [[https://drive.google.com/drive/folders/1B_MSVh_tHmRteHqT1s-PsmOTkKbvaFqT?usp=sharing]]
courses/456/2022/projects/456-2022-07/project-07.1649354432.txt.gz · Last modified: by ychen506




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