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Toward Development of Novel Remote Ultrasound Robotic System Using Soft Robotics Technology

journal contribution
posted on 2023-12-07, 03:50 authored by Sky Papendorp, Ammy Ovando, Saleh GharaieSaleh Gharaie, Bobak Mosadegh, David Guerra-Zubiaga, Seyedhamidreza Alaie, Turaj Ashuri, Amir Ali Amiri Moghadam
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.

History

Journal

ASME Journal of Engineering and Science in Medical Diagnostics and Therapy

Volume

7

Article number

021012

Pagination

1-9

Location

New York, N.Y.

ISSN

2572-7958

eISSN

2572-7966

Language

eng

Publication classification

C1 Refereed article in a scholarly journal

Issue

2

Publisher

ASME

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