Co-robotic ultrasound imaging: A cooperative force control approach

Rodolfo Finocchi, Fereshteh Aalamifar, Ting Yun Fang, Russell H Taylor, Emad Boctor

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Ultrasound (US) imaging remains one of the most commonly used imaging modalities in medical practice. However, due to the physical effort required to perform US imaging tasks, 63-91% of ultrasonographers develop musculoskeletal disorders throughout their careers. The goal of this work is to provide ultrasonographers with a system that facilitates and reduces strain in US image acquisition. To this end, we propose a system for admittance force robot control that uses the six-degree-of-freedom UR5 industrial robot. A six-axis force sensor is used to measure the forces and torques applied by the sonographer on the probe. As the sonographer pushes against the US probe, the robot complies with these forces, following the user's desired path. A one-axis load cell is used to measure contact forces between the patient and the probe in real time. When imaging, the robot augments the axial forces applied by the user, lessening the physical effort required. User studies showed an overall decrease in hand tremor while imaging at high forces, improvements in image stability, and a decrease in difficulty and strenuousness.

Original languageEnglish (US)
Title of host publicationMedical Imaging 2017
Subtitle of host publicationImage-Guided Procedures, Robotic Interventions, and Modeling
PublisherSPIE
Volume10135
ISBN (Electronic)9781510607156
DOIs
StatePublished - 2017
EventMedical Imaging 2017: Image-Guided Procedures, Robotic Interventions, and Modeling - Orlando, United States
Duration: Feb 14 2017Feb 16 2017

Other

OtherMedical Imaging 2017: Image-Guided Procedures, Robotic Interventions, and Modeling
CountryUnited States
CityOrlando
Period2/14/172/16/17

    Fingerprint

Keywords

  • Admittance control
  • Collaborative robot control
  • Force sensing
  • Robotic ultrasound
  • Ultrasound imaging

ASJC Scopus subject areas

  • Atomic and Molecular Physics, and Optics
  • Electronic, Optical and Magnetic Materials
  • Biomaterials
  • Radiology Nuclear Medicine and imaging

Cite this

Finocchi, R., Aalamifar, F., Fang, T. Y., Taylor, R. H., & Boctor, E. (2017). Co-robotic ultrasound imaging: A cooperative force control approach. In Medical Imaging 2017: Image-Guided Procedures, Robotic Interventions, and Modeling (Vol. 10135). [1013510] SPIE. https://doi.org/10.1117/12.2255271