Design and Integration of a Parallel, Soft Robotic End-Effector for Extracorporeal Ultrasound.

ABSTRACT:

Objective

In this work we address limitations in state-of-the-art ultrasound robots by designing and integrating a novel soft robotic system for ultrasound imaging. It employs the inherent qualities of soft fluidic actuators to establish safe, adaptable interaction between ultrasound probe and patient.

Methods

We acquire clinical data to determine the movement ranges and force levels required in prenatal foetal ultrasound imaging and design the soft robotic end-effector accordingly. We verify its mechanical characteristics, derive and validate a kinetostatic model and demonstrate controllability and imaging capabilities on an ultrasound phantom.

Results

The soft robot exhibits the desired stiffness characteristics and is able to reach 100% of the required workspace wh

SUBMITTER: Lindenroth L 

PROVIDER: S-EPMC7115900 | biostudies-literature | 2020 Aug

REPOSITORIES: biostudies-literature