A novel design of force-feedback master manipulator for remote ultrasound scanning

2022 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2022-12-05 DOI:10.1109/ROBIO55434.2022.10011778

Chang-le Li, ChenTao Zhang, Chuanyou Yu, Leifeng Zhang, Gangfeng Liu, Jie Zhao

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Abstract

This paper presents a novel six-degree-of-freedom force feedback master manipulator for remote ultrasound scanning. Firstly, a new configuration based on a planar five-link mechanism is proposed, taking into account the practical needs of medical ultrasound scanning. This configuration has two operating modes and can provide three degrees of force feedback. Secondly, a hybrid force/position master-slave control system based on the kinetic model force feedback method is built, which can realize incremental master-slave control, variable proportional control, force feedback, and other functions. Finally, the positional accuracy, gravity balance effect, and force feedback performance of this master manipulator are verified through experiments. Experiments show that the average position error of this novel force feedback master manipulator is 1.18 mm, the average attitude error expressed in terms of Euler angles is 0.83°, and the maximum feedback force that can be provided is 12.1 N, which satisfies the requirements of ultrasonic scanning.

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一种新型超声远程扫描力反馈主机械手的设计

提出了一种新型的六自由度力反馈远程超声扫描主机械手。首先，考虑到医用超声扫描的实际需要，提出了一种基于平面五连杆机构的新型机构构型;这种配置有两种操作模式，可以提供三度的力反馈。其次，建立了基于动力学模型力反馈方法的力/位置混合主从控制系统，实现了增量主从控制、变比例控制、力反馈等功能;最后，通过实验验证了该主机械手的位置精度、重力平衡效果和力反馈性能。实验表明，该力反馈主机械手的平均位置误差为1.18 mm，以欧拉角表示的平均姿态误差为0.83°，能提供的最大反馈力为12.1 N，满足超声扫描的要求。

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2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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