Increasing Reachability in Robotic Ultrasound Through Base Placement and Tool Design

IF 2.3 3区医学 Q2 SURGERY International Journal of Medical Robotics and Computer Assisted Surgery Pub Date : 2024-12-27 DOI:10.1002/rcs.70037

Jonas Osburg, Ngoc Thinh Nguyen, Floris Ernst

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Abstract

Background

Robotic ultrasound visualises internal organs in real-time for various medical applications without the harm of X-rays. The ultrasound probe is attached to the robot's end effector using custom-developed probe holders. This paper analyzes the impact of different probe holder geometries on the robot's base placement and reachability.

Methods

We propose a method to improve probe holder geometries and robot base placements to enhance reachability, validated using a 7-DoF serial manipulator (KUKA iiwa 7) for ultrasound scans of multiple subcutaneous body parts.

Results

Without additional space restrictions, the number of robot base positions with high reachability could be strongly increased with an improved probe holder geometry. Under space constraints, previously unreachable target poses became accessible by adapting the probe holder geometry.

Conclusions

Our method provides an automated solution for determining improved probe holder geometries, enhancing reachability to target areas, especially when the robot's placing area is limited.

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通过基座放置和工具设计增加机器人超声的可达性。

背景：机器人超声在各种医学应用中实时可视化内部器官，而没有x射线的伤害。超声波探头使用定制的探头支架连接到机器人的末端执行器上。本文分析了不同的测头支架几何形状对机器人基座放置和可达性的影响。方法：我们提出了一种改进探针支架几何形状和机器人基座放置的方法，以提高可达性，并使用7- dof串行机械手（KUKA iiwa 7）进行了验证，用于对人体多个皮下部位进行超声扫描。结果：在没有额外空间限制的情况下，通过改进探头支架的几何形状，可以大大增加高可达性的机器人基座位置的数量。在空间限制下，通过调整探针支架的几何形状，可以访问先前无法到达的目标姿态。结论：我们的方法为确定改进的探针支架几何形状提供了自动化解决方案，提高了对目标区域的可达性，特别是当机器人的放置区域有限时。

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来源期刊

International Journal of Medical Robotics and Computer Assisted Surgery 医学-外科

CiteScore

4.50

自引率

12.00%

发文量

131

审稿时长

6-12 weeks

期刊介绍： The International Journal of Medical Robotics and Computer Assisted Surgery provides a cross-disciplinary platform for presenting the latest developments in robotics and computer assisted technologies for medical applications. The journal publishes cutting-edge papers and expert reviews, complemented by commentaries, correspondence and conference highlights that stimulate discussion and exchange of ideas. Areas of interest include robotic surgery aids and systems, operative planning tools, medical imaging and visualisation, simulation and navigation, virtual reality, intuitive command and control systems, haptics and sensor technologies. In addition to research and surgical planning studies, the journal welcomes papers detailing clinical trials and applications of computer-assisted workflows and robotic systems in neurosurgery, urology, paediatric, orthopaedic, craniofacial, cardiovascular, thoraco-abdominal, musculoskeletal and visceral surgery. Articles providing critical analysis of clinical trials, assessment of the benefits and risks of the application of these technologies, commenting on ease of use, or addressing surgical education and training issues are also encouraged. The journal aims to foster a community that encompasses medical practitioners, researchers, and engineers and computer scientists developing robotic systems and computational tools in academic and commercial environments, with the intention of promoting and developing these exciting areas of medical technology.