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SAPM: Self-Adaptive Parallel Manipulator With Pose and Force Adjustment for Robotic Ultrasonography

文献类型：期刊论文

作者Bao, Xianqiang3; Wang, Shuangyi2; Zheng, Lingling1; Housden, Richard James3; Hajnal, Joseph3; Rhode, Kawal3
刊名IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
出版日期2023-10-01
卷号70期号:10页码:10333-10343
ISSN号0278-0046
关键词Probes Robots Manipulators Force Safety Force measurement Ultrasonography Automatic pose adjustment constant forces torques mechanical measurement operation safety robotic ultrasonography
DOI10.1109/TIE.2022.3220864
通讯作者Wang, Shuangyi(shuangyi.wang@ia.ac.cn)
英文摘要Robotic ultrasonography potentially acts as an essential aid to medical diagnosis. To overcome the limitations in robotic ultrasonography, in this article, we proposed a novel self-adaptive parallel manipulator (SAPM) that can automatically adjust the ultrasound (US) probe pose to adapt to various contours of scanned areas, provide approximate constant operating forces/torques, achieve mechanical measurement, and cushion undesired produced forces. A novel parallel adjustment mechanism is proposed to attain automatic pose adjustment with 3 degrees of freedom (DOFs). This mechanism enables the US probe to adapt to different scanned areas and to perform the scanning with approximate constant forces and torques. Besides, we present a mechanical measurement and safety protection method that can be integrated into the SAPM and used as operation status monitoring and early warning during scanning procedures by capturing operating forces and torques. Experiments were carried out to calibrate the measurement and buffer units and evaluate the performance of the SAPM. Experimental results show the ability of the SAPM to provide 3 DOFs motion and operating force/torque measurement and automatically adjust the US probe pose to capture US images of equally good quality compared to a manual sonographer scan. Moreover, it has characteristics similar to soft robots that could significantly improve operation safety, and could be extended to some other engineering or medical applications.
WOS关键词ULTRASOUND ; SYSTEM
资助项目National Institute for Health Research Biomedical Research Centre at Guy's and St. Thomas' NHS Foundation Trust and King's College London, the Wellcome/EPSRC Centre for Medical Engineering[WT 203148/Z/16/Z] ; Wellcome Trust IEH Award[102431] ; National Natural Science Foundation of China[62003339] ; Open Project of the State Key Laboratory of Management and Control for Complex Systems at Chinese Academy of Sciences[20200116]
WOS研究方向Automation & Control Systems ; Engineering ; Instruments & Instrumentation
语种英语
出版者IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号WOS:000975423100059
资助机构National Institute for Health Research Biomedical Research Centre at Guy's and St. Thomas' NHS Foundation Trust and King's College London, the Wellcome/EPSRC Centre for Medical Engineering ; Wellcome Trust IEH Award ; National Natural Science Foundation of China ; Open Project of the State Key Laboratory of Management and Control for Complex Systems at Chinese Academy of Sciences
源URL[http://ir.ia.ac.cn/handle/173211/53411]  
专题多模态人工智能系统全国重点实验室
通讯作者Wang, Shuangyi
作者单位1.Kagawa Univ, Fac Engn & Design, Takamatsu 7610396, Japan
2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
3.Kings Coll London, Sch Biomed Engn & Imaging Sci, London SE1 7EH, England
推荐引用方式
GB/T 7714		 Bao, Xianqiang,Wang, Shuangyi,Zheng, Lingling,et al. SAPM: Self-Adaptive Parallel Manipulator With Pose and Force Adjustment for Robotic Ultrasonography[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2023,70(10):10333-10343.
APA Bao, Xianqiang,Wang, Shuangyi,Zheng, Lingling,Housden, Richard James,Hajnal, Joseph,&Rhode, Kawal.(2023).SAPM: Self-Adaptive Parallel Manipulator With Pose and Force Adjustment for Robotic Ultrasonography.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,70(10),10333-10343.
MLA Bao, Xianqiang,et al."SAPM: Self-Adaptive Parallel Manipulator With Pose and Force Adjustment for Robotic Ultrasonography".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 70.10(2023):10333-10343.

入库方式： OAI收割

来源：自动化研究所

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