An ergonomic handheld ultrasound probe providing contact forces and pose information

Abstract

This paper presents a handheld ultrasound probe which is integrated with sensors to measure force and pose (position/orientation) information. Using an integrated probe like this, one can relate ultrasound images to spatial location and create 3D ultrasound maps. The handheld device can be used by sonographers and also easily be integrated with robot arms for automated sonography. The handheld device is ergonomically designed; rapid attachment and removal of the ultrasound transducer itself is possible using easy-to-operate clip mechanisms. A cable locking mechanism reduces the impact that gravitational and other external forces have (originating from data and power supply cables connected to the probe) on our measurements. Gravitational errors introduced by the housing of the probe are compensated for using knowledge of the housing geometry and the integrated pose sensor that provides us with accurate orientation information. In this paper, we describe the handheld probe with its integrated force/pose sensors and our approach to gravity compensation. We carried out a set of experiments to verify the feasibility of our approach to obtain accurate spatial information of the handheld probe.

Design and Integration of a Parallel, Soft Robotic End-Effector for Extracorporeal Ultrasound

“…Trained sonographers performed the foetal ultrasound scan using a standard ultrasound probe (X6-1, Philips, Amsterdam, Netherlands) which is connected to an ultrasound scanner (EPIQ7, Philips, Amsterdam, Netherlands). The probe was placed in a holder as detailed in [45]. This holder incorporated an electromagnetic (EM) tracking sensor (Aurora, NDI, Ontario, Canada) and six axis force-torque sensor (Nano 17, ATI, Apex, USA), which allowed measurements of the position and orientation of the probe, and the force applied at the probe face to be measured throughout the scan.…”

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

“…In our previous research, we investigated the operation requirement through fetal US scanning by using a standard US probe and force/position measurement instruments. A US probe (X6-1, Philips, NL) is located in a bespoke probe holder (detailed in [16] ), which incorporates a six-axis force sensor (Nano 17, ATI, USA) and an electromagnetic tracking sensor (Aurora, NDI, CA). The six-axis force sensor captures the operating force and torque during scanning while the electromagnetic tracking sensor measures the position and orientation of the probe.…”

A concept of a measuring system for probe kinesthetic parameters identification during echocardiography examination

“…Our article describes the concept of a measuring system for identification forces/torques (wrenches) exerted by the echocardiography transducer on the patient's body as well as probe trajectory during the examination. Despite the existence of similar solutions [15,18,17], no one has proposed a comprehensive solution for echocardiography yet.…”