A dynamically consistent hierarchical control architecture for robotic-assisted tele-echography with motion and contact dynamics driven by a 3D time-of-flight camera and a force sensor

Santos, Luís; Cortesão, Rui

doi:10.1109/icra.2015.7139600

Cited by 8 publications

(3 citation statements)

References 12 publications

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“…In Santos and Cortesao (2015), a more sophisticated haptic control method for ultrasound systems is presented, which estimates the environment stiffness online. This approach has good performance regardless of the stiffness of the environment.…”

Section: Forward Flow Haptic Control Performancementioning

confidence: 99%

“…In Koizumi et al (2009), a system is made for remote diagnosis of dialysis-related amyloid arthropathy. All the systems presented above describe custommade robots, while Santos and Cortesao (2015) use a system based on a commercially available industrial robot. It presents a hierarchical force and orientation control, which estimates the environment stiffness using active observers.…”

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: Forward Flow Haptic Control Performancementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

An Ultrasound Robotic System Using the Commercial Robot UR5

et al. 2016

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“…This split control could also maintain a desired contact force between an ultrasound probe and the patient, while the physician controls the other degrees of freedom of the probe's position to find the desired imaging plane. 21…”

Section: Surgical Tool Configurationmentioning

confidence: 99%

Ultrasound-Based Image Guidance and Motion Compensating Control for Robot-Assisted Beating-Heart Surgery

Bowthorpe

Tavakoli

2016

J. Med. Robot. Res.

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Performing a surgical task on a beating heart requires superhuman skill as the surgeon must manually track the heart's motion while performing a surgical task. However, the ability to operate on a beating heart would eliminate the need to use a mechanical stabilizer or arrest the heart and connect the patient to a heart-lung machine and would consequently eliminate their side effects. This work develops the image processing and control structure for an ultrasound-guided robot-assisted beating heart surgical system that will move the surgical tool tip in synchrony with the heart. This would allow the surgeon to operate through teleoperation on a virtually stabilized point on the heart. In developing this system, the position data acquired from ultrasound images is upsampled and predicted ahead to compensate for the image acquisition and processing delay. We present the results of a user task based on mitral valve annuloplasty performed under ultrasound guidance.

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Gain determination of feedback force for an ultrasound scanning robot using genetic algorithm

2019

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A dynamically consistent hierarchical control architecture for robotic-assisted tele-echography with motion and contact dynamics driven by a 3D time-of-flight camera and a force sensor

Abstract: This paper discusses a new control approach for robotic-assisted tele-echography where contact dynamics are driven by a 3D time-of-flight camera and a force sensor.

Cited by 8 publications

References 12 publications

An Ultrasound Robotic System Using the Commercial Robot UR5

An Ultrasound Robotic System Using the Commercial Robot UR5

Ultrasound-Based Image Guidance and Motion Compensating Control for Robot-Assisted Beating-Heart Surgery

Gain determination of feedback force for an ultrasound scanning robot using genetic algorithm

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