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Application of the Force Control Mechanical Arm in Ultrasound Elastography of Thyroid Nodules

Application of force controlled robotic arm in ultrasound elastography of thyroid nodules

Status
Active, not recruiting
Phases
Unknown
Study type
Observational
Source
ChiCTR
Registry ID
ChiCTR2500114774
Enrollment
Unknown
Registered
2025-12-17
Start date
2024-08-01
Completion date
Unknown
Last updated
2026-01-05

For informational purposes only — not medical advice. Sourced from public registries and may not reflect the latest updates. Terms

Conditions

Thyroid cancer

Interventions

Observation group:None

Sponsors

The First Affiliated Hospital of University of Science and Technology of China (Anhui Provincial Hospital)
Lead Sponsor

Eligibility

Sex/Gender
All

Inclusion criteria

Inclusion criteria: (1) Nodules with definite fine needle aspiration cytology (FNA) or postoperative pathological diagnosis; (2) Complete clinical and imaging data.

Exclusion criteria

Exclusion criteria: (1) Patients who could not tolerate ultrasound examination or robotic arm operation; (2) The maximum diameter of nodules was less than 5 mm, which could not be effectively evaluated by elastography; (3) Incomplete imaging or pathological data.

Design outcomes

Primary

MeasureTime frame
Within-group correlation coefficient for consistency of Emax measurements in SWE mode;Area under ROC curve of diagnostic efficacy of Emax in differentiating benign from malignant thyroid nodules in SE mode and SWE mode;

Secondary

MeasureTime frame
Maximum elastic modulus (Emax) in shear wave elastography (SWE);Strain ratio (SR) in strain elastography (SE);Subjective image quality score: Mean opinion score (MOS);Objective image quality metrics: structural similarity index (SSIM), peak signal-to-noise ratio (PSNR), and mean squared error (MSE);

Countries

China

Contacts

Public ContactLei Hu

The First Affiliated Hospital of University of Science and Technology of China (Anhui Provincial Hospital)

hulei@ustc.edu.cn+86 138 6666 1018

Outcome results

None listed

Source: ChiCTR (via WHO ICTRP) · Data processed: Feb 4, 2026