用于机器人医学超声波成像的电缆驱动轻型便携系统

IF 3.4 Q2 ENGINEERING, BIOMEDICAL
Guochen Ning;Jie Wang;Hongen Liao
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引用次数: 0

摘要

机器人超声成像系统(RUS)因其促进自主超声成像的潜力而备受关注。然而,现有的 RUS 建立在面向传统制造的机器人系统基础上,很难在多变和动态的临床环境中游刃有余。我们介绍了一种便携式轻型 RUS,旨在提高超声成像任务的适应性。该系统具有多个平行环和轴承,可实现四个自由度的精确姿态控制。为进一步提高其适应性,执行器与机构隔离,并通过电缆护套机构连接,从而形成了一个仅重 519 克的轻型结构,可与人体连接。定量评估表明,在981立方厘米的广阔工作空间内,探头的姿势控制精度分别为1.32/pm 0.1$毫米和[ 1.8/pm 1.1^{\circ }$ ,1.9/pm 2.2^{\circ }$ ,0.8~/pm 0.8^{\circ }$ ]。定量评估结果表明,该系统可以附着在人体的各个部位进行图像采集。此外,即使在快速变化的动态环境中,该系统也能出色地执行稳定的扫描程序。我们的系统能以更轻的结构实现成像任务,并有可能应用于更复杂的场景。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Cable-Driven Light-Weighting and Portable System for Robotic Medical Ultrasound Imaging
Robotic ultrasound imaging systems (RUSs) have captured significant interest owing to their potential to facilitate autonomous ultrasound imaging. However, existing RUSs built upon robotic systems oriented towards conventional manufacturing struggle to navigate the variable and dynamic clinical environments. We introduce a portable and lightweight RUS designed to enhance adaptability for ultrasound imaging tasks. The proposed system features multiple parallel rings and bearings, affording it four degrees-of-freedom for precise posture control. Further enhancing its adaptability, the actuators are isolated from the mechanism and connected by a cable-sheath mechanism, resulting in a mere 519g lightweight structure that attaches to the body. Quantitative assessments indicate that within a vast workspace of 981 cm3, the posture control precision of the probe is measured at $1.32\pm 0.1$ mm and [ $1.8\pm 1.1^{\circ }$ , $1.9\pm 2.2^{\circ }$ , $0.8~\pm 0.8^{\circ }$ ]. The maximum compression force measured for the probe is 14.5 N. The quantitative evaluation results show that the system can attach to various parts of the human body for image acquisition. In addition, the proposed system excels in performing stable scanning procedures even in rapidly changing dynamic environments. Our system can realize imaging tasks with a much lighter structure and has the potential to be applied to more complex scenarios.
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CiteScore
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