Robotic ultrasound probe handling auxiliary by active compliance control

Abstract

This paper describes a support system for ultrasound (US) probe scanning by a robotic probe holding system to support manual handling of an US probe. The system, consisting of an US probe manipulator with parallel link mechanism and a 6-axis force sensor, is able to hold and manipulate an US probe according to force applied to the probe by a technician. To enable the smooth coordinated control, compliance control is used. Moreover, we have proposed velocitydepended viscosity depending on the velocity of the robot. In this study, the appropriate viscosity corresponding to operational velocity was measured experimentally and the feasibility of the coordinated motion control was validated. The results of the viscosity measurement showed a clear inverse correlation between the viscosity and the operational velocity. In the coordinated motion control evaluation, the relation between the applied force and the robot velocity in the viscosity of high, low, and dynamic velocity-depended coefficient was measured. The result showed the dynamic velocity-depended viscosity provides well-coordinated motion in any operational velocities. The results demonstrated the system has a great potential for support of US diagnosis as an auxiliary medical robot.

Robust Passivity-Based Dynamical Systems for Compliant Motion Adaptation

“…Recently, admittance/impedance control [10], virtual-spring haptic feedback control [11], force/position switching control [12] have been extensively adopted in ultrasound scanning robot system. In technical note, a desired compliant performance based on such methods requires perfect knowledge about muscle surface and robotic model, which are notoriously difficult to obtain.…”

Patient-mounted Robot for 2D Ultrasound Probe Scanning using McKibben Artificial Muscles

“…However, these systems cannot be applied to other targets because of the differences in the required probe motion. Serial and parallel link robots for abdominal US scanning have also been developed [6][7][8][9]. These robots are placed at the bedside, which complicates the compensation of patient motion.…”

Metrological Evaluation of a Novel Medical Robot and Its Kinematic Calibration

“…Several medical US robots were designed with parallel structures. A parallel robot was developed to hold the US probe in [10]. It consists of three legs displaced on both sides of the patient and a probe gripper hanging over the scanned area.…”