Abstract
In this letter, we propose a novel constant-force end-effector (CFEE) to address current limitations in robotic ultrasonography. The CFEE uses a parallel, motor-spring-based solution to precisely generate constant operating forces over a wide range and enable the ultrasound (US) probe to adapt to the abdominal contours autonomously. A displacement measurement unit was developed to realize the acquisition of probe position and precise control of the operating force. Moreover, the operating force can be adjusted online to maintain safety and continuity of operation. Simulations and experiments were carried out to evaluate the performance. Results show that the proposed CFEE can provide constant forces of 4-12 N with displacements of 0-8 mm. The maximum relative error of force generation is 8.28%, and the accuracy and precision for displacement measurement are 0.29 mm and ±0.16 mm, respectively. Various operating forces can be adjusted online during the same operation. Ultrasound images acquired by the proposed CFEE are of equally good quality compared to a manual sonographer scan. The proposed CFEE would have potential further medical applications.
Highlights
U LTRASONOGRAPHY is of increasing importance in recent years and has proliferated with examples being fetal, abdominal, vascular and cardiac ultrasound (US) imaging [1]
Risks of X-rays exist when sonographers perform the intraoperative ultrasonography during interventions, such as cardiovascular interventions [3]
To overcome the above-mentioned limitations, we propose a novel constant-force end-effector (CFEE), which can provide a constant operating force over a wide range and adjust the operating force online to adapt to various conditions and the contours of scanned areas
Summary
U LTRASONOGRAPHY is of increasing importance in recent years and has proliferated with examples being fetal, abdominal, vascular and cardiac ultrasound (US) imaging [1]. Tsumura et al proposed a US robot to maintain the contact force in a certain range and passively adjust the US probe posture relative to the body surface by using a linear actuator and constant spring [9]. These reported robots maintain the contact force through precise control of the robotic arm with sensors and actuators. Huang et al used a depth camera to capture the point cloud of the skin surface and the scan range and path for the US probe was obtained to control the robot arm [15] This type of method allows the US probe to adapt to the contours of scanned areas well but results in a complicated system.
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