Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound.

ABSTRACT: With the potential for high precision, dexterity, and repeatability, a self-tracked robotic system can be employed to assist the acquisition of real-time ultrasound. However, limited numbers of robots designed for extra-corporeal ultrasound have been successfully translated into clinical use. In this study, we aim to build a bespoke robotic manipulator for extra-corporeal ultrasound examination, which is lightweight and has a small footprint. The robot is formed by five specially shaped links and custom-made joint mechanisms for probe manipulation, to cover the necessary range of motion with redundant degrees of freedom to ensure the patient's safety. The mechanical safety is emphasized with a clutch mechanism, to limit the force applied to patients. As a result of the design, the total we

SUBMITTER: Wang S 

PROVIDER: S-EPMC7115966 | biostudies-literature | 2019 Jan

REPOSITORIES: biostudies-literature