Manipulator Control System for Remote USG Examinantion

Kurnicki, Adam; Stanczyk, Bartlomiej

doi:10.14313/jamris/2-2019/18

Cited by 3 publications

(2 citation statements)

References 25 publications

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“… Type Force measurement Ultrasound probe Camera system User interface Teleoperation MGIUS-R3 , Shenzhen, China Not specified Serial; 6 DOF; custom design External F sensor Not specified Not specified Dummy probe (6 DOF, robot control), keyboard (US control) Patient volunteer (1) 1 2020 [ 13 ] MELODY , Naveil, France Cardiac, abdominal, vascular, pelvic, urinary, prenatal Serial; 3 active DOF rotation, 3 passive DOF translation (manual); custom design External F sensor; 20 N limit Convex probe; C5-2 [BK Medical] RGB camera (webcam conferencing) Haptic device (6 DOF, custom, robot control), tablet/keyboard (US control) Patient volunteers (> 300) 2 2016; 2017; 2018 [ 14 – 16 , 17 •] ReMeDi , Lublin, Poland Cardiac, abdominal Serial; 7 active DOF; custom design to reproduce human examiner External FT sensor (6 DOF); max. force 40 N Not specified RGB camera (webcam conferencing) Haptic device (6 DOF, custom, robot control) Patient volunteers (> 10) 2 2016; 2017; 2019; 2020 [ 18 – 20 , 21 ••] TOURS (Sonoscanner-CNES), Tours, France Abdominal, vascular, pelvic, prenatal Parallel; 3 active DOF rotation, translational placement manual; custom design None 3D convex probe and linear probes; [Vermon] RGB camera (webcam conferencing) Dummy probe (robot control), keyboard (US control) Patient volunteers (> 100) 1 2016; 2018 [ 22 , 23 •] ROBO Health Institute, Shenzhen, China Not specified Serial; 6 DOF (× 3 prismatic, × 3 revolute); custom design External F sensor (6 DOF) Convex probe; [SonoStar] …”

Section: Teleoperationmentioning

confidence: 99%

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Medical Robotics for Ultrasound Imaging: Current Systems and Future Trends

et al. 2021

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Purpose of Review This review provides an overview of the most recent robotic ultrasound systems that have contemporary emerged over the past five years, highlighting their status and future directions. The systems are categorized based on their level of robot autonomy (LORA). Recent Findings Teleoperating systems show the highest level of technical maturity. Collaborative assisting and autonomous systems are still in the research phase, with a focus on ultrasound image processing and force adaptation strategies. However, missing key factors are clinical studies and appropriate safety strategies. Future research will likely focus on artificial intelligence and virtual/augmented reality to improve image understanding and ergonomics. Summary A review on robotic ultrasound systems is presented in which first technical specifications are outlined. Hereafter, the literature of the past five years is subdivided into teleoperation, collaborative assistance, or autonomous systems based on LORA. Finally, future trends for robotic ultrasound systems are reviewed with a focus on artificial intelligence and virtual/augmented reality.

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Section: Teleoperationmentioning

confidence: 99%

“…The kinematically redundant robotic arm (Fig. 1b ) features seven active DOF and an additional force-torque sensor and was specially designed to reproduce all necessary movements of a human examiner [ 20 ]. In contrast to MELODY, ReMeDi does not rely on a human assistant.…”

Section: Teleoperationmentioning

confidence: 99%