Abstract
The vessels are twisted in a longitudinal 3D space in the lower limbs of humans. Thus, it is difficult to perform an ultrasound scanning examination in this area. In this paper, a new medical parallel robot is introduced to effectively diagnose vessel disease in the lower limbs. The robot's position repeatability and accuracy are evaluated. Furthermore, the robot's accuracy is improved through a calibration process in which the kinematic parameters are identified through a simple identification approach.
Highlights
Ultrasound (US) scanning examination is one of the major diagnostic modalities in daily medicine
Much research is engaged towards the design of medical robots to perform the US scanning examination
Many US medical robot systems are developed based on industrial robots
Summary
Ultrasound (US) scanning examination is one of the major diagnostic modalities in daily medicine. MedRUE (for Medical Robot for vascular Ultrasound Examination) is a new parallel robot designed to perform US scanning examina‐ tion in lower limbs, improved based on its first concept proposed in [15]. It has a longitudinal workspace aligned with the patient’s leg, but relatively small size and low weight [16]. The kinematic calibration methods for serial robots are mostly on identifying the Denavit-Hartenberg parameters [19, 20]. MedRUE is a 6-DOF parallel robot consisting of a robot base with a linear guide, two five-bar mechanisms and the tool part to carry the US probe.
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