Abstract
An ultrasonic examination is a clinically universal and safe examination method, and with the development of telemedicine and precision medicine, the robotic ultrasound system (RUS) integrated with a robotic arm and ultrasound imaging system receives increasing attention. As the RUS requires precision and reproducibility, it is important to monitor the real-time calibration of the RUS during examination, especially the angle of the probe for image detection and its force on the surface. Additionally, to speed up the integration of the RUS and the current medical ultrasound system (US), the current RUSs mostly use a self-designed fixture to connect the probe to the arm. If the fixture has inconsistencies, it may cause an operating error. In order to improve its resilience, this study proposed an improved sensing method for real-time force and angle calibration. Based on multichannel pressure sensors, an inertial measurement unit (IMU), and a novel sensing structure, the ultrasonic probe and robotic arm could be simply and rapidly combined, which rendered real-time force and angle calibration at a low cost. The experimental results show that the average success rate of the downforce position identification achieved was 88.2%. The phantom experiment indicated that the method could assist the RUS in the real-time calibration of both force and angle during an examination.
Highlights
Introduction published maps and institutional affilThe ultrasound imaging system is a universal and common clinical detection method in preoperative examinations, and is characterized by real-time imaging, noninvasiveness, non-ionizing radiation, and lower cost; this medical imaging equipment is extensively used in medical institutions
As the rotation parameters provided by the inertial measurement unit (IMU) were disposed on the robot arms (IMUarm) and ultrasonic probe (IMUprobe) a correction formula the Roll, Pitch, and Yaw of the Euler angle before the correction operation, the direction was required for normalization
When the structure deflects to a direction, the corresponding pressure sensor value was increased and the direction of the force applied by the ultrasonic probe could be known from this data so as to provide medical care personnel with an operational reference
Summary
In order to maintain a stable movement of the ultrasonic intelligentized the gesture operation for lightness, flexibility, and fast booting It was probe and force at a specific angle, the adjustable fixture mechanism was integrated with highly flexible in an emergency and appropriate for serious symptom examinations for thin film pressure sensor andFinally, IMU,inmeaning the errors were compared the angle ofand theforce home care. Order to maintain a stable movement of thefor ultrasonic probe ultrasonic probe and applied was measured instantlywas in integrated the automatic scanning at athe specific angle,force the adjustable fixture mechanism with thin film pressure sensor and IMU, meaning the errors were compared for the angle of the ultrasonic process. The robotnonsynchronous arm performed real-time angleactual or force compensation to avoid With the preset angle beingcould nonsynchronous the actual angle With this this architecture, the system upgrade with the quality ofmeasurement the ultrasonic images.
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