A Constant-Force End-Effector With Online Force Adjustment for Robotic Ultrasonography

Bao, XH; Wang, Shuangyi; Housden, James; Hajnal, Joseph V.; Rhode, Kawal

doi:10.1109/lra.2021.3061329

Cited by 16 publications

(6 citation statements)

References 19 publications

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“…Их поведение в отношении получения и оценки услуг в сфере психического здоровья должны учитывать их статус [22]. Поэтому их оценки важны с позиций наиболее общих представлений об удобстве и вовлеченности, но в то же время требуют от разработчиков особого внимания и высокого профессионализма, особенно, если речь идет о коррекции состояний, которые так или иначе ассоциированы с суицидальным риском [25].…”

Section: Discussionunclassified

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2022

RJTEH

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НАУЧНАЯ СПЕЦИАЛИЗАЦИЯ -электронное здравоохранение, телемедицина, медицинская информатика и кибернетика, мобильное здоровье, организация здравоохранения, дистанционное обучение, страховая медицинская телематика, медицинская аппаратура, биомедицинская инженерия, биоинформатика.АУДИТОРИЯ -врачи всех специальностей, главные врачи ЛПУ, руководители IT-отделов ЛПУ, инженеры и разработчики медицинской техники и медицинского оборудования, руководители и сотрудники информационно-аналитических центров.

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Section: Discussionunclassified

“…АНАЛИТИЧЕСКИЙ ОБЗОР предлагается использование концевого эффектора с постоянной силой, который позволяет регулировать силу, с которой происходит контакт с поверхностью тела [25]. В статье Shihang Chen и соавт.…”

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2022

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“…представлено применение автоматизированного 3D УЗИ для in vivo анализа функций почек у мышей [24]. предлагается использование концевого эффектора с постоянной силой, который позволяет регулировать силу, с которой происходит контакт с поверхностью тела [25]. В статье Shihang Chen и соавт.…”

Section: аналитический обзорunclassified

Ultrasound robots: ready-to-use solutions and perspective directions.

Lebedev¹,

Shaderkin²,

Shaderkina³

2022

RJTEH

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Introduction. Ultrasonography (US) is one of the most wide-spread methods of diagnostic because this examination is simple and non-invasive. But it has several limitations such as non-reproducibility, operator-dependance and mixing of data obtaining (manual US examination) and data analyzing. Use of robotic systems for sonography is a perspective technological method which can potentially solve these limitations. Automated ultrasound breast scanning is one of the prime examples of robotic systems’ application. The aim of our article is to review solutions for ultrasonography robotization. Materials and methods. The research was conducted on Pubmed database. Results. In this article we present examples of different types of robots and robotic systems for ultrasound examination with description of their features and applications. Here we present our analysis of results that were obtained during research, robots’ classifications, fields of use and perspectives of application. Conclusion. Use of robots for ultrasound examination is perspective for decrease of sonographers’ burden, separation of data obtaining and data analyzing. It also provides changing of the workflow of ultrasound examinations making them more effective and less operator-dependent.

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“…This end-effector can realize the 3D-pose adjustment but is unable to control the contact force or torques. In [ 23 ], we proposed a constant-force end-effector, and it can precisely generate constant operating forces and enable the US probe to adapt to the abdominal contours autonomously. However, the pose can be adjusted only in the vertical direction ( z -direction) and only contact force is maintained.…”

Section: Introductionmentioning

confidence: 99%

SAPM: Self-Adaptive Parallel Manipulator With Pose and Force Adjustment for Robotic Ultrasonography

Bao¹,

Wang

Zheng

et al. 2023

IEEE Trans. Ind. Electron.

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Robotic ultrasonography potentially acts as an essential aid to medical diagnosis. To overcome the limitations in robotic ultrasonography, in this paper, we proposed a novel self-adaptive parallel manipulator (SAPM) that can automatically adjust the ultrasound (US) probe pose to adapt to various contours of scanned areas, provide approximate constant operating forces/torques, achieve mechanical measurement, and cushion undesired produced forces. A novel parallel adjustment mechanism is proposed to attain automatic pose adjustment with 3 degrees of freedom (DOFs). This mechanism enables the US probe to adapt to different scanned areas and to perform the scanning with approximate constant forces and torques. Besides, we present a mechanical measurement and safety protection method that can be integrated into the SAPM and used as operation status monitoring and early warning during scanning procedures by capturing operating forces and torques. Experiments were carried out to calibrate the measurement and buffer units and evaluate the performance of the SAPM. Experimental results show the ability of the SAPM to provide 3-DoFs motion and operating force/torque measurement and automatically adjust the US probe pose to capture US images of equally good quality compared to a manual sonographer scan. Moreover, it has characteristics similar to soft robots that could significantly improve operation safety, and could be extended to some other engineering or medical applications.

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A Constant-Force End-Effector With Online Force Adjustment for Robotic Ultrasonography

Cited by 16 publications

References 19 publications

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Ultrasound robots: ready-to-use solutions and perspective directions.

SAPM: Self-Adaptive Parallel Manipulator With Pose and Force Adjustment for Robotic Ultrasonography

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