An Ultrasound Robotic System Using the Commercial Robot UR5

Mathiassen, Kim; Fjellin, Jørgen Enger; Glette, Kyrre; Hol, Per Kristian; Elle, Ole Jakob

doi:10.3389/frobt.2016.00001

Cited by 106 publications

(72 citation statements)

References 38 publications

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“…Various robotic hardware solutions have been proposed. Researchers have adopted robotic platforms originally aimed at collaborative scenarios in industrial settings, such as Universal Robots UR-series [12], [13] or the KUKA LWR [9] and LBR iiwa [14], [15]. A commercial robotic manipulator has been released (LBR Med, KUKA AG, Augsburg, Germany) which is suitable for use in clinical environments due to its conformity with medical device safety (ISO 60601) and medical software regulations (ISO 62304).…”

Section: Introductionmentioning

confidence: 99%

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

Lindenroth

Housden

Wang

et al. 2020

IEEE Trans. Biomed. Eng.

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In this work we address limitations in state-of-theart ultrasound robots by designing and integrating the first soft robotic system for ultrasound imaging. It makes use of the inherent qualities of soft robotics technologies to establish a safe, adaptable interaction between ultrasound probe and patient. We acquire clinical data to establish the movement ranges and force levels required in prenatal foetal ultrasound imaging and design our system accordingly. The end-effectors stiffness characteristics allow for it to reach the desired workspace while maintaining a stable contact between ultrasound probe and patient under the determined loads. The system exhibits a high degree of safety due to its inherent compliance in the transversal direction. We verify the mechanical characteristics of the end-effector, derive and validate a kinetostatic model and demonstrate the robots controllability with and without external loading. The imaging capabilities of the robot are shown in a tele-operated setting on a foetal phantom. The design exhibits the desired stiffness characteristics with a high stiffness along the ultrasound transducer and a high compliance in lateral direction. Twist is constrained using a braided mesh reinforcement. The model can accurately predict the end-effector pose with a mean error of about 6% in position 7% in orientation. The derived controller is, with an average position error of 0.39mm able to track a target pose efficiently without and with externally applied loads. Finally, the images acquired with the system are of equally good quality compared to a manual sonographer scan.

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Section: Introductionmentioning

confidence: 99%

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

Lindenroth

Housden

Wang

et al. 2020

IEEE Trans. Biomed. Eng.

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“…The experimental setup is designed following the requirements highlighted in [5]. The goal of the master device is to allow sonographers to perform the procedure in the remote environment as they were next to the patient.…”

Section: Methodsmentioning

confidence: 99%

“…1 reader to [4] and the reference therein. A Tele-Echography architecture using only commercial device is discussed in [5]. In the above articles, the problem of system instability due to communication delay is not addressed since only high performance network (e.g ISDN, Integrated Services Digital Network) or dedicated communication channels are considered.…”

Section: Introductionmentioning

confidence: 99%

Tele-Echography using a Two-Layer Teleoperation Algorithm with Energy Scaling

Sartori

Tadiello

Secchi

et al. 2019

2019 International Conference on Robotics and Automation (ICRA)

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Performing ultrasound procedures from a remote site is a challenging task since both a stable behavior, for the safety of the patient, and a high-level of usability, to exploit the sonographer's expertise, need to be guaranteed. Furthermore, a teleoperation system that provides such requirements has to deal with communication delays as well. To address this issue, we use the two-layer algorithm: a passivity-based bilateral teleoperation architecture able to guarantee stability despite unknown and time-varying delay. Its flexibility allows to implement different kinds of control laws. In a Tele-Echography system, the slave manipulator has to apply significant forces needed by the procedure whereas the haptic device at the master side should be very light to avoid tiring the operator. Therefore, the energy needed by these two robots to perform their movements is very different and the energy injected into the system by the operator is often not sufficient to implement the desired action at the slave side. Methods to overcome this problem require to perfectly know the dynamical models of the robots. The solution proposed in this paper does not require such knowledge and is based on properly scaling the energy exchanged between the master and the slave side. We show the effectiveness of this approach in a real setup using a TOUCH haptic device and a WAM Barrett robot holding an ultrasound probe.

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“…Multiple tele-operated solutions have been developed in the past with the aim of providing medical facilities to geographically isolated patients [7][8][9][10][11][12][13][14]. The robotized ultrasound system, using a master-slave architecture, constitute a solution to this issue.…”

Section: Introductionmentioning

confidence: 99%

Cobot with Prismatic Compliant Joint Intended for Doppler Sonography

et al. 2020

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This paper deals with a collaborative robot, i.e., cobot, coupled with a new prismatic compliant joint (PCJ) at its end-effector. The proposed collaborative solution is intended for Doppler sonography to prevent musculoskeletal disorders issues. On one hand, the Doppler sonographer’s postures are investigated based on motion capture use during the arteries examination. This study highlighted that configurations adopted by angiologists lead to the musculoskeletal disorder. On the other hand, the proposed PCJ with variable stiffness gives an intrinsic compliance to the cobot handling the probe. This feature allows preserving the human safety when both human and cobot share a common workspace. The effectiveness of the proposed solution is experimentally validated through a 7-DoF Franka Emika robot virtually coupled with the PCJ, during the execution of a trajectory performed during a Doppler ultrasound exam. The impact force criterion is considered as a safety performance.

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An Ultrasound Robotic System Using the Commercial Robot UR5

Cited by 106 publications

References 38 publications

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

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

Tele-Echography using a Two-Layer Teleoperation Algorithm with Energy Scaling

Cobot with Prismatic Compliant Joint Intended for Doppler Sonography

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