Impedance Control on Arbitrary Surfaces for Ultrasound Scanning Using Discrete Differential Geometry

Dyck, Michael; Sachtler, Arne; Klodmann, Julian; Albu-Schäffer, Alin

doi:10.1109/lra.2022.3184800

Cited by 18 publications

(11 citation statements)

References 30 publications

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“…The impedance controller introduced in previous work by Dyck et al [13] enables collaborative robotic US scanning. The recovered 3D morphological structure (cmp.…”

Section: Collaborative Robotic Tissue Scanningmentioning

confidence: 99%

“…The forward kinematics function x = f kin (q) provides Cartesian coordinates x ∈ R 6×1 of the end effector, together with the geometrical Jacobian J x ∈ R 6×7 . Left-multiplication of J x with the Jacobian J ρx ∈ R 6x6 derived in [13] gives J ρ required in (3). The robot is landing the US transducer onto the tissue surface and initiates scanning trajectory execution with passive interaction dynamics, providing the option to change from autonomous execution to teleoperated, or hands-on probe guidance.…”

Section: E Workflowmentioning

confidence: 99%

“…A custom-made mechanical interface to US transducer and stereo camera alleviates the need for external tracking. Deploying the impedance controller presented in [13] enables guidance of an US probe in different control modes, achieving passive interaction dynamics not requiring direct force control. By incorporating the tissue surface directly into the real-time control loop, setup and integration of the platform is straightforward.…”

Section: Introductionmentioning

confidence: 99%

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Toward Safe and Collaborative Robotic Ultrasound Tissue Scanning in Neurosurgery

Dyck,

Weld,

Klodmann

et al. 2024

IEEE Trans. Med. Robot. Bionics

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Intraoperative ultrasound imaging is used to facilitate safe brain tumour resection. However, due to challenges with image interpretation and the physical scanning, this tool has yet to achieve widespread adoption in neurosurgery. In this paper, we introduce the components and workflow of a novel, versatile robotic platform for intraoperative ultrasound tissue scanning in neurosurgery. An RGB-D camera attached to the robotic arm allows for automatic object localisation with ArUco markers, and 3D surface reconstruction as a triangular mesh using the ImFusion Suite software solution. Impedance controlled guidance of the US probe along arbitrary surfaces, represented as a mesh, enables collaborative US scanning, i.e., autonomous, teleoperated and hands-on guided data acquisition. A preliminary experiment evaluates the suitability of the conceptual workflow and system components for probe landing on a custom-made softtissue phantom. Further assessment in future experiments will be necessary to prove the effectiveness of the presented platform.

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“…The impedance controller introduced in previous work by Dyck et al [13] enables collaborative robotic US scanning. The recovered 3D morphological structure (cmp.…”

Section: Collaborative Robotic Tissue Scanningmentioning

confidence: 99%

Section: E Workflowmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Toward Safe and Collaborative Robotic Ultrasound Tissue Scanning in Neurosurgery

Dyck,

Weld,

Klodmann

et al. 2024

IEEE Trans. Med. Robot. Bionics

Self Cite

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“…These approaches primarily focused on flat or regular surfaces. In contrast, [16] was able to deal with complex arbitrary surfaces in task space.…”

Section: B Interaction Control Schemementioning

confidence: 99%

Adaptive Vision-Based Control of Redundant Robots with Null-Space Interaction for Human-Robot Collaboration

Yan

Chen

2022

2022 International Conference on Robotics and Automation (ICRA)

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Ultrasound scanning robots enable the automatic imaging of a patient's internal organs by maintaining close contact between the ultrasound probe and the patient's body during a scanning procedure. Comprehensive, high-quality ultrasound scans are essential for providing the patient with an accurate diagnosis and effective treatment plan. An ultrasound scanning robot usually works in a doctor-robot co-existing environment, hence both efficiency and safety during the collaboration should be considered. In this paper, we propose a novel multi-modal control scheme for ultrasound scanning robots, in which three interaction modes are integrated into a single control input. Specifically, the scanning mode drives the robot to track a time-varying trajectory on the patient's body under the desired impedance model; the recovery mode allows the robot to actively recontact the body whenever physical contact between the ultrasound probe and the patient's body is lost; the humanguided mode renders the robot passive such that the doctor can safely intervene to manually reposition the probe. The integration of multiple modes allows the doctor to intervene safely at any time during the task and also maximizes the robot's autonomous scanning ability. The performance of the robot is validated on a collaborative scanning task of a carotid artery examination.

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“…Luo and Hsieh [17] implemented a Cartesian-based impedance control to permit a dual-arm robot to perform a tapping motion on the human back. Dyck et al [6] applied a passivity-based impedance control scheme so that it could interact with arbitrary surfaces. To achieve robot massage, the proposed controllers not only ensure the robotic end-effector tracks the desired trajectory but also ensure the contact force converges to the desired force.…”

Section: Introductionmentioning

confidence: 99%

Toward automatic robotic massage based on interactive trajectory planning and control

Xu,

Deng,

Zeng

et al. 2024

Complex Intell. Syst.

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Autonomous robotic massage holds the potential to alleviate the workload of nurses and improve the quality of healthcare. However, the complexity of the task and the dynamic of the environment present significant challenges for robotic massage. This paper presents a vision-based robotic massage (VBRM) framework that facilitates autonomous robot massaging of the human body while ensuring safe operation in a dynamic environment. The VBRM framework allows the operator to define the massage trajectory by drawing a 2D curve on an RGB image. An interactive trajectory planning method is developed to calculate a 3D massage trajectory from the 2D trajectory. This method accounts for potential movements of the human body and updates the planned trajectory using rigid point cloud registration. Additionally, a hybrid motion/force controller is employed to regulate the motion of the robot’s end-effector, considering the possibility of excessive contact force. The proposed framework enables the operator to adjust the massage trajectory and speed according to their requirements. Real-world experiments are conducted to evaluate the efficacy of the proposed approach. The results demonstrate that the framework enables successful planning and execution of the massage task in a dynamic environment. Furthermore, the operator has the flexibility to set the massage trajectory, speed, and contact force arbitrarily, thereby enhancing human–machine interaction.

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Impedance Control on Arbitrary Surfaces for Ultrasound Scanning Using Discrete Differential Geometry

Cited by 18 publications

References 30 publications

Toward Safe and Collaborative Robotic Ultrasound Tissue Scanning in Neurosurgery

Toward Safe and Collaborative Robotic Ultrasound Tissue Scanning in Neurosurgery

Adaptive Vision-Based Control of Redundant Robots with Null-Space Interaction for Human-Robot Collaboration

Toward automatic robotic massage based on interactive trajectory planning and control

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