Robot-Assisted 3D Medical Sonography

Petrović, Petar B.; Lukić, Nikola; Danilov, Ivan

doi:10.1007/978-3-319-05431-5_4

Cited by 2 publications

(1 citation statement)

References 15 publications

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“…Compliance as a process variable is encountered in a broad class of industrial tasks, primarily in part mating (Chen et al, 2009;Wang et al, 2015), which is distinct in its extraordinary complexity, but also in deburring, polishing (contour following), screwdriving, machining, et cetera (Huang et al, 2016;Kazerooni, 1988). In addition to the technological tasks, precise compliance control is of generic importance for other fields of robotic technology application as well, for example in medicine, in the field of rehabilitation (Zhou et al, 2014) or surgery (Sanan et al, 2014), needle insertion into soft tissue (Dedong et al, 2012) and ultrasound diagnostics (Petrovic et al, 2014;Salcudean et al, 1999). A similar situation is also encountered in the field of service robotics, where there is also a requirement for precise compliance control (Dietrich et al, 2011;Ott et al, 2017;Vukobratovic and Borovac, 2004).…”

Section: Introductionmentioning

confidence: 99%

Complementary projector for null-space stiffness control of redundant assembly robot arm

Lukić

Petrović

2019

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Purpose Stiffness control of redundant robot arm, aimed at using extra degrees of freedom (DoF) to shape the robot tool center point (TCP) elastomechanical behavior to be consistent with the essential requirements needed for a successful part mating process, i.e., to mimic part supporting mechanism with selective quasi-isotropic compliance (Remote Center of Compliance – RCC), with additional properties of inherent flexibility. Design/methodology/approach Theoretical analysis and synthesis of the complementary projector for null-space stiffness control of kinematically redundant robot arm. Practical feasibility of the proposed approach was proven by extensive computer simulations and physical experiments, based on commercially available 7 DoF SIA 10 F Yaskawa articulated robot arm, equipped with the open-architecture control system, system for generating excitation force, dedicated sensory system for displacement measurement and a system for real-time acquisition of sensory data. Findings Simulation experiments demonstrated convergence and stability of the proposed complementary projector. Physical experiments demonstrated that the proposed complementary projector can be implemented on the commercially available anthropomorphic redundant arm upgraded with open-architecture control system and that this projector has the capacity to efficiently affect the task-space TCP stiffness of the robot arm, with a satisfactory degree of consistency with the behavior obtained in the simulation experiments. Originality/value A novel complementary projector was synthesized based on the adopted objective function. Practical verification was conducted using computer simulations and physical experiments. For the needs of physical experiments, an adequate open-architecture control system was developed and upgraded through the implementation of the proposed complementary projector and an adequate system for generating excitation and measuring displacement of the robot TCP. Experiments demonstrated that the proposed complementary projector for null-space stiffness control is capable of producing the task-space TCP stiffness, which can satisfy the essential requirements needed for a successful part-mating process, thus allowing the redundant robot arm to mimic the RCC supporting mechanism behavior in a programmable manner.

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Section: Introductionmentioning

confidence: 99%

Complementary projector for null-space stiffness control of redundant assembly robot arm

Lukić

Petrović

2019

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A review of robot‐assisted ultrasound examination: Systems and technology

Du,

Zhang,

Zhang

et al. 2024

Robotics Computer Surgery

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BackgroundAt present, the number and overall level of ultrasound (US) doctors cannot meet the medical needs, and the medical ultrasound robots will largely solve the shortage of medical resources.MethodsAccording to the degree of automation, the handheld, semi‐automatic and automatic ultrasound examination robot systems are summarised. Ultrasound scanning path planning and robot control are the keys to ensure that the robot systems can obtain high‐quality images. Therefore, the ultrasound scanning path planning and control methods are summarised. The research progress and future trends are discussed.ResultsA variety of ultrasound robot systems have been applied to various medical works. With the continuous improvement of automation, the systems provide high‐quality ultrasound images and image guidance for clinicians.ConclusionAlthough the development of medical ultrasound robot still faces challenges, with the continuous progress of robot technology and communication technology, medical ultrasound robot will have great development potential and broad application space.

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Robot-Assisted 3D Medical Sonography

Cited by 2 publications

References 15 publications

Complementary projector for null-space stiffness control of redundant assembly robot arm

Complementary projector for null-space stiffness control of redundant assembly robot arm

A review of robot‐assisted ultrasound examination: Systems and technology

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