Development of robot assisted measurement system for abdominal ultrasound diagnosis

Nakadate, Ryu; Tokunaga, Yasuaki; Jorge, Solis; Takanishi, Atsuo; Minagawa, Eiichi; Sugawara, Motoaki; Niki, Kiyomi; Saito, Akiko

doi:10.1109/biorob.2010.5627716

Cited by 15 publications

(14 citation statements)

References 12 publications

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“…The force the robot uses on the patient is scaled down on the haptic device, thus reducing the strain. In both Salcudean et al (1999) and Nakadate et al (2010b), such robotic systems are presented.…”

Section: Introductionmentioning

confidence: 99%

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An Ultrasound Robotic System Using the Commercial Robot UR5

et al. 2016

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The use of robots in health care has increased dramatically over the last decade. One area of research has been to use robots to conduct ultrasound examinations, either controlled by a physician or autonomously. This paper examines the possibility of using the commercial robot UR5 from Universal Robots to make a tele-operated robotic ultrasound system. Physicians diagnosing patients using ultrasound probes are prone to repetitive strain injuries, as they are required to hold the probe in uncomfortable positions and exert significant static force. The main application for the system is to relieve the physician of this strain by letting the them control a robot that holds the probe. A set of requirements for the system is derived from the state-of-the-art systems found in the research literature. The system is developed through a low-level interface for the robot, effectively building a new software framework for controlling it. Compliance force control and forward flow haptic control of the robot was implemented. Experiments are conducted to quantify the performance of the two control schemes. The force control is estimated to have a bandwidth of 16.6 Hz, while the haptic control is estimated to have a bandwidth of 65.4 Hz for the position control of the slave and 13.4 Hz for the force control of the master. Overall, the system meets the derived requirements and the main conclusion is that it is feasible to use the UR5 robot for robotic ultrasound applications.

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Section: Introductionmentioning

confidence: 99%

“…• Reduce or prevent musculoskeletal disorders for the physician (Salcudean et al, 1999;Nakadate et al, 2010b). …”

Section: Introductionmentioning

confidence: 99%

An Ultrasound Robotic System Using the Commercial Robot UR5

et al. 2016

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“…The chambers are separated by a flexible PU membrane (10). The upper chamber is covered by a flexible silicone membrane (11) and incorporates the ultrasound probe (12). The lower chamber incorporates the kinematics with two translational DOF (13) and two rotatory DOF (14) to move the ultrasound probe.…”

Section: B Dynamic System Descriptionmentioning

confidence: 99%

“…(2) (4) is held by two jaws (6) that are attached to the parallel kinematics (5,(8)(9)(10)(11), creating a remote center of motion at the tip of the probe (7) for pitch movements. The parallel kinematics consists of two parallel rods (5) that are supported by two parallel triangles (9).…”

Section: Fig 2 A) the Robotmentioning

confidence: 99%

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Flat-panel ultrasound robot: A novel imaging concept and a novel motorized kinematics for an ultrasound probe during laparoscopic interventions

Gumprecht¹,

Geiger²,

Stolzenburg

et al. 2013

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

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In this manuscript we propose a robot with a novel kinematics and a novel imaging concept for a transcutaneous ultrasound probe. The underlying goal is to provide a laparoscopic surgeon intraoperative real-time images from within the surgical field without additional man power. The robot is manually controlled by the surgeon through a joystick console. The device is divided into two separate chambers. One is filled with pressurized water and incorporates an transcutaneous ultrasound probe. It is covered with a flexible silicone membrane that is in contact with the patient. The second cavity incorporates the kinematics and is filled with pressurized air. The kinematics has four degrees of freedom (two translational and two rotatory). In this paper, we provide the mathematical description for the direct as well as for the indirect kinematics along with a validation experiment.

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Telerobotic Sonography for Remote Diagnostic Imaging

Adams

Burbridge

Obaid

et al. 2020

J of Ultrasound Medicine

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Access to sonographers and sonologists is limited in many communities around the world. Telerobotic sonography (robotic ultrasound) is a new technology to increase access to sonography, providing sonographers and sonologists the ability to manipulate an ultrasound probe from a distant location and remotely perform ultrasound examinations. This narrative review discusses the development of telerobotic ultrasound systems, clinical studies evaluating the feasibility and diagnostic accuracy of telerobotic sonography, and emerging use of telerobotic sonography in clinical settings. Telerobotic sonography provides an opportunity to provide real‐time ultrasound examinations to underserviced rural and remote communities to increase equity in the delivery of diagnostic imaging.

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Development of robot assisted measurement system for abdominal ultrasound diagnosis

Cited by 15 publications

References 12 publications

An Ultrasound Robotic System Using the Commercial Robot UR5

An Ultrasound Robotic System Using the Commercial Robot UR5

Flat-panel ultrasound robot: A novel imaging concept and a novel motorized kinematics for an ultrasound probe during laparoscopic interventions

Telerobotic Sonography for Remote Diagnostic Imaging

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