Robotic ultrasound: An initial feasibility study

Table 1 Patient/volunteer satisfaction survey, n (%)

	Strongly disagree	Somewhat disagree	Neither disagree nor agree	Somewhat agree	Strongly agree
I was worried to undergo this procedure	0 (0)	7 (33.4)	2 (9.5)	12 (57.1)	0 (0)
I felt comfortable during the procedure	0 (0)	1 (4.8)	1 (4.8)	18 (85.6)	1 (4.8)
I felt no difference between this and conventional ultrasound	0 (0)	8 (38.1)	5 (23.8)	8 (38.1)	0 (0)
I felt comfortable knowing that doctor is controlling the robot	0 (0)	0 (0)	0 (0)	13 (61.9)	8 (38.1)
I will trust the results of this technology	0 (0)	5 (23.8)	6 (28.6)	10 (47.6)	0 (0)
I understand how the procedure took place	0 (0)	7 (33.4)	11 (52.4)	3 (14.3)	0 (0)
I felt less pressure on my body in comparison to conventional ultrasound	0 (0)	7 (33.33)	7 (33.33)	7 (33.33)	0 (0)
I would like to use this technology in future	0 (0)	2 (9.5)	4 (19.1)	12 (57.1)	3 (14.3)
I would recommend this technology to others	0 (0)	0 (0)	4 (19.1)	14 (66.6)	3 (14.3)
Overall rating					Average: 6.2

Table 2 Doctor satisfaction survey, n (%)

	Strongly disagree	Somewhat disagree	Neither disagree nor agree	Somewhat agree	Strongly agree
I could use the system easily	0 (0)	5 (23.8)	1 (4.8)	15 (71.4)	0 (0)
I have understanding of the working of the system	0 (0)	3 (14.3)	0 (0)	18 (85.7)	0 (0)
I could learn to use the system with more trials	0 (0)	0 (0)	0 (0)	8 (38.1)	13 (61.9)
I would like to use the system over conventional system	0 (0)	0 (0)	8(38.1)	13(61.9)	0 (0)
I feel the system is precise, safe, and effective	0 (0)	1 (4.8)	6 (28.6)	11 (52.4)	3 (14.2)
In case of errors, I was able to handle them with ease	0 (0)	11 (52.4)	4 (19)	6 (28.6)	0 (0)
I was not concerned about the safety of the patient during the procedure	0 (0)	7 (33.3)	0 (0)	13 (61.9)	1 (4.8)
I feel the user interface is useful	0 (0)	1 (4.8)	5 (23.8)	15 (71.4)	0 (0)
I trust the results of the system	0 (0)	0 (0)	4 (19.05)	13 (61.9)	4 (19.05)
Overall rating					Average: 6.38

Table 3 Time taken for performing ultrasound

Patient	Conventional hand-held (min)	Robotic arm (min)
1	3	17
2	5	17
3	5	17
4	3	15
6	2	10
7	4	9
8	4	8
9	7	6
10	4	9
11	4	6
12	5	5
13	6	8
14	3	8
15	4	6
16	3	5
17	4	4
18	5	4
19	3	7
20	5	6
21	3	8