| Autor: |
Papendorp, Sky, Ovando, Ammy, Gharaie, Saleh, Mosadegh, Bobak, Guerra-Zubiaga, David, Alaie, Seyedhamidreza, Ashuri, Turaj, Amiri Moghadam, Amir Ali |
| Zdroj: |
Journal of Engineering and Science in Medical Diagnostics and Therapy; May 2024, Vol. 7 Issue: 2 p021012-021012, 1p |
| Abstrakt: |
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. |
| Databáze: |
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