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Toward Development of Novel Remote Ultrasound Robotic System Using Soft Robotics Technology.
- Source :
-
Journal of engineering and science in medical diagnostics and therapy [J Eng Sci Med Diagn Ther] 2024 May 01; Vol. 7 (2), pp. 021012. Date of Electronic Publication: 2023 Oct 19. - Publication Year :
- 2024
-
Abstract
- This paper reports on the development of a novel soft robotic system for remote ultrasound applications. Direct contact of the ultrasound probe with the patient's body represents a safety risk and therefore control of the probe's positioning and applied force is a crucial task. The proposed robot uses a passive control system that provides safe interaction between the robot and the patient by leveraging soft robotics technology. The soft robot's structure can be considered as a nonlinear spring which can be designed to exert a safe force within the robot's workspace to guarantee the safety of human-robot interaction. The literature suggests that effective ultrasound imaging of both the heart and abdomen requires six degrees-of-freedom. These degrees-of-freedom consist of three translational motions, which are achieved using a novel hybrid soft cable-driven parallel robot, and three wrist motions, which is based on a universal joint design. The experimental results show that the robot can achieve all these six degrees-of-freedom, and its blocking force can be engineered to generate a uniform force within the workspace.<br /> (Copyright © 2024 by ASME.)
Details
- Language :
- English
- ISSN :
- 2572-7966
- Volume :
- 7
- Issue :
- 2
- Database :
- MEDLINE
- Journal :
- Journal of engineering and science in medical diagnostics and therapy
- Publication Type :
- Academic Journal
- Accession number :
- 38059170
- Full Text :
- https://doi.org/10.1115/1.4063469