A review of robotic mechanisms for ultrasound examinations

Abstract

Purpose-This paper aims to review the mechanical characteristics of the robotic mechanisms developed for ultrasound examinations. This will help to extract those mechanical features which together can produce a design with superior functionality. Design/methodology/approach-Following an introduction regarding ultrasound examination, this paper discusses the concept of robotic ultrasound imaging and classifies the mechanisms in terms of their power trains used for robotic and haptic devices which assist physicians to perform ultrasound imaging on patients. A set of mechanical characteristics which together can generate a superior design is also presented. Findings-The present paper shows that the robotic devices developed so far can perform ultrasound examinations. Each design with its own advantageous characteristics, and their simultaneous implementation in a new design, will create a robotic device with improved performance. Originality/value-This paper provides a detailed review of the developments of the robotic systems for ultrasound examinations and some guidelines for new designs with improved functionality.

Fuzzy sliding mode control of a wearable rehabilitation robot for wrist and finger

“…However, there are some items such as different body stiffness and device accuracy in the medical robots that should be considered (Dehghani et al , 2018). In robotic structures, decoupled movements have benefits because for achieving a motion, only one transmission needs to be actuated (Abbasi Moshaii and Najafi, 2014).…”