Estimation of fetal position and orientation based on skeletal distribution with robotic ultrasonography

Yuuki Shida, Ryosuke Tsumura, Takabumi Watanabe, Fuji Kohei, Gen Yamano, Hiroyasu Iwata

Research output: Chapter in Book/Report/Conference proceedingConference contribution


Since the fetal heart is small and less visible, physicians find it based on the fetal position and orientation assumed with acquired US images. Meanwhile, an artifact due to bones and fetal movement in uterus not only makes the procedure cumbersome but also limits the reliability of diagnosis. Then, this paper proposes the robotic US imaging system allows for the estimation of fetal position and orientation based on the fetal bone distribution which is a key anatomical feature to detect the heart and to avoid the artifact. We obtain intrauterine bone distribution in three dimensions from echo images and estimate the fetal position and abdominal sagittal axis by calculating and analyzing the bone distribution in the entire uterus. The estimation errors in the 3D space were as follows: head position 30.9 pm 13.9 mm, pelvis position 16.0 pm 2.7 mm, and rotation angle 6.0pm 7.8-{circ}. These results suggest that the proposed method is effective as a technique for estimating the approximate fetal position and has a potential to determine the heart position.

Original languageEnglish
Title of host publicationIUS 2020 - International Ultrasonics Symposium, Proceedings
PublisherIEEE Computer Society
ISBN (Electronic)9781728154480
Publication statusPublished - 2020 Sept 7
Event2020 IEEE International Ultrasonics Symposium, IUS 2020 - Las Vegas, United States
Duration: 2020 Sept 72020 Sept 11

Publication series

NameIEEE International Ultrasonics Symposium, IUS
ISSN (Print)1948-5719
ISSN (Electronic)1948-5727


Conference2020 IEEE International Ultrasonics Symposium, IUS 2020
Country/TerritoryUnited States
CityLas Vegas


  • Fetal echo sonography
  • Medical robot
  • Path planning
  • Prenatal
  • Robotic ultrasound

ASJC Scopus subject areas

  • Acoustics and Ultrasonics


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