— This paper proposes a semi-autonomous navigated
master-slave system, for robot assisted remote echography for
early trauma assessment. Two RGB-D sensors are used to
capture real-time 3D information of the scene at the slave side
where the patient is located. A 3D statistical shape model is
built and used to generate a customized patient model based
on the point cloud generated by the RGB-D sensors. The
customized patient model can be updated and adaptively fitted
to the patient. The model is also used to generate a trajectory
to navigate a KUKA robotic arm and safely conduct the
ultrasound examination. Extensive validation of the proposed
system shows promising results in terms of accuracy and
robustness.