Table 1 Comparison of thyroid nodule scoring and recommendation between FARUS and doctor based on ACR TI-RADS
From: A fully autonomous robotic ultrasound system for thyroid scanning
No | Name | Nodule | Size | Diagnosed by | Composition | Echogenicity | Margin | Shape | Echogenicity foci | Total | Difference | Recommendation |
|---|---|---|---|---|---|---|---|---|---|---|---|---|
1 | Patient 1 | #1 | 3.9 mm | FARUS | 2 | 2 | 0 | 3 | 0 | 7 | 0 | No FNA |
|  |  |  | 3.2 mm | Doctor | 2 | 2 | 0 | 3 | 0 | 7 |  | No FNA |
2 | Patient 2 | #2 | 3.0 mm | FARUS | 2 | 2 | 0 | 0 | 0 | 4 | 2 | No FNA |
|  |  |  | 4.5 mm | Doctor | 1 | 1 | 0 | 0 | 0 | 2 |  | No FNA |
3 | Patient 3 | #3 | 6.6 mm | FARUS | 0 | 0 | 0 | 0 | 0 | 0 | 0 | No FNA |
|  |  |  | 6.9 mm | Doctor | 0 | 0 | 0 | 0 | 0 | 0 |  | No FNA |
4 | Patient 3 | #4 | 5.9 mm | FARUS | 2 | 1 | 0 | 0 | 0 | 3 | 1 | No FNA |
|  |  |  | 6.1 mm | Doctor | 1 | 1 | 0 | 0 | 0 | 2 |  | No FNA |
5 | Patient 4 | #5 | 12.4 mm | FARUS | 2 | 2 | 0 | 0 | 0 | 4 | 1 | Follow-up |
|  |  |  | 12.8 mm | Doctor | 2 | 1 | 0 | 0 | 0 | 3 |  | No FNA |
6 | Patient 5 | #6 | 4.2 mm | FARUS | 2 | 2 | 0 | 0 | 0 | 4 | 4 | No FNA |
|  |  |  | 3.4 mm | Doctor | 0 | 0 | 0 | 0 | 0 | 0 |  | No FNA |
7 | Patient 5 | #7 | 6.9 mm | FARUS | 2 | 1 | 0 | 0 | 0 | 3 | 0 | No FNA |
|  |  |  | 6.9 mm | Doctor | 1 | 2 | 0 | 0 | 0 | 3 |  | No FNA |
8 | Patient 6 | #8 | 6.2 mm | FARUS | 1 | 2 | 0 | 0 | 0 | 3 | 1 | No FNA |
|  |  |  | 5.5 mm | Doctor | 1 | 1 | 0 | 0 | 0 | 2 |  | No FNA |
9 | Patient 7 | #9 | 6.7 mm | FARUS | 1 | 2 | 0 | 0 | 0 | 3 | 0 | No FNA |
|  |  |  | 7.8 mm | Doctor | 1 | 2 | 0 | 0 | 0 | 3 |  | No FNA |
10 | Patient 7 | #10 | 7.3 mm | FARUS | 2 | 2 | 0 | 0 | 0 | 4 | 1 | No FNA |
|  |  |  | 7.2 mm | Doctor | 1 | 2 | 0 | 0 | 0 | 3 |  | No FNA |
11 | Patient 7 | #11 | 6.6 mm | FARUS | 2 | 2 | 0 | 0 | 0 | 4 | 2 | No FNA |
|  |  |  | 6.2 mm | Doctor | 1 | 1 | 0 | 0 | 0 | 2 |  | No FNA |
12 | Patient 7 | #12 | 1.8 mm | FARUS | 2 | 2 | 0 | 0 | 0 | 4 | 2 | No FNA |
|  |  |  | 2.4 mm | Doctor | 1 | 1 | 0 | 0 | 0 | 2 |  | No FNA |
13 | Patient 7 | #13 | 3.1 mm | FARUS | 2 | 2 | 0 | 0 | 0 | 4 | 2 | No FNA |
|  |  |  | 2.8 mm | Doctor | 1 | 1 | 0 | 0 | 0 | 2 |  | No FNA |
14 | Patient 8 | #14 | 7.8 mm | FARUS | 1 | 2 | 0 | 0 | 0 | 3 | 1 | No FNA |
|  |  |  | 7.6 mm | Doctor | 1 | 1 | 0 | 0 | 0 | 2 |  | No FNA |
15 | Patient 8 | #15 | 4.3 mm | FARUS | 1 | 1 | 0 | 0 | 0 | 2 | 0 | No FNA |
|  |  |  | 4.4 mm | Doctor | 1 | 1 | 0 | 0 | 0 | 2 |  | No FNA |
16 | Patient 8 | #16 | 7.1 mm | FARUS | 1 | 1 | 0 | 0 | 0 | 2 | 0 | No FNA |
|  |  |  | 7.5 mm | Doctor | 1 | 1 | 0 | 0 | 0 | 2 |  | No FNA |
17 | Patient 8 | #17 | 1.7 mm | FARUS | 1 | 1 | 0 | 0 | 0 | 2 | 0 | No FNA |
|  |  |  | 1.9 mm | Doctor | 1 | 1 | 0 | 0 | 0 | 2 |  | No FNA |
18 | Patient 8 | #18 | 3.1 mm | FARUS | 1 | 1 | 0 | 0 | 0 | 2 | 0 | No FNA |
|  |  |  | 4.1 mm | Doctor | 1 | 1 | 0 | 0 | 0 | 2 |  | No FNA |
19 | Patient 9 | #19 | 18.6 mm | FARUS | 1 | 2 | 0 | 0 | 0 | 3 | 0 | Follow-up |
|  |  |  | 19.1 mm | Doctor | 1 | 2 | 0 | 0 | 0 | 3 |  | Follow-up |
20 | Patient 9 | #20 | 10.4 mm | FARUS | 1 | 2 | 0 | 0 | 2 | 5 | 0 | FNA |
|  |  |  | 10.6 mm | Doctor | 1 | 2 | 0 | 0 | 2 | 5 |  | FNA |
21 | Patient 10 | #21 | 5.8 mm | FARUS | 1 | 2 | 0 | 0 | 0 | 3 | 1 | No FNA |
|  |  |  | 8.2 mm | Doctor | 1 | 1 | 0 | 0 | 0 | 2 |  | No FNA |
22 | Patient 11 | #22 | 3.0 mm | FARUS | 1 | 2 | 0 | 0 | 0 | 3 | 1 | No FNA |
|  |  |  | 3.6 mm | Doctor | 1 | 1 | 0 | 0 | 0 | 2 |  | No FNA |
23 | Patient 12 | #23 | 17.0 mm | FARUS | 2 | 1 | 0 | 0 | 0 | 3 | 0 | No FNA |
|  |  |  | 18.2 mm | Doctor | 2 | 1 | 0 | 0 | 0 | 3 |  | No FNA |
24 | Patient 13 | #24 | 8.9 mm | FARUS | 2 | 1 | 0 | 0 | 0 | 3 | 1 | No FNA |
|  |  |  | 9.7 mm | Doctor | 1 | 1 | 0 | 0 | 0 | 2 |  | No FNA |
