Wen-Yi Kuo, Xihan Ma, Dhirajsinh Deshmukh, Haichong K. Zhang
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引用次数: 0
摘要
机器人辅助超声(US)成像在解决传统徒手超声过程中高物理要求和有限的扫描重现性等问题方面表现出了巨大的希望。然而,使用机械臂来操纵美国的探测器带来了对患者安全的根本担忧。这是因为当存在电力传感误差时,机器人关节驱动可以很容易地产生压倒性的力并施加到患者的身体上。因此,需要一种机制来保持更柔顺的接触力,独立于机器人手臂运作,以减轻这种担忧。在这里,我们介绍了一个机器人美国系统与一种新的自动接触力调节末端执行器。在末端执行器中嵌入线性气动执行器,以防止对患者施加过大的力。这种力的顺应性可以在不依赖于电力传感和机器人关节驱动的情况下实现。我们在基于幻象的环境下,在美国成像任务中测试了所提出的系统。结果表明,接触力可调范围为4.10 N ~ 7.53 N,扫描过程中使用自动调节接触力的末端执行器可调节±0.46 N,具有潜在的临床适用性。
Automatic Contact Force-regulated End-effector Using Pneumatic Actuator for Safe Robotic Ultrasound Imaging
Robotic-assisted ultrasound (US) imaging has demonstrated great promise to address issues such as high physical demands and limited scanning reproducibility in traditional freehand US procedures. Yet, using a robot arm to manipulate the US probe brings a fundamental concern about patient safety. This is because an overwhelming force can be easily produced from the robot joint actuation and exerted onto the patient's body when an electrical force-sensing error exists. Therefore, a mechanism that maintains a more compliant contact force, functioning independently from the robot arm, is needed to mitigate this concern. Here, we introduce a robotic US system with a novel automatic contact force-regulated end-effector. A linear pneumatic actuator is embedded in the end-effector to prevent excessive force from being applied to the patient. Such force compliance can be realized without relying on electrical force sensing and robot joint actuation. We tested the proposed system in US imaging tasks under a phantom-based environment. Results show that the contact force has an adjustable range from 4.10 N to 7.53 N, and can be regulated with ± 0.46 N variation using the automatic contact force-regulated end-effector during scanning, which demonstrates potential clinical applicability.