基于软机器人技术的新型远程超声机器人系统研究

Sky Papendorp, Ammy Ovando, Saleh Gharaie, Bobak Mosadegh, David Guerra-Zubiaga, Seyedhamidreza Alaie, Turaj Ashuri, Amir Ali Amiri Moghadam
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摘要

摘要:本文报道了一种新型远程超声软机器人系统的开发。超声探头与患者身体直接接触存在安全风险,因此控制探头的定位和施加力是一项至关重要的任务。该机器人采用被动控制系统,利用软机器人技术提供机器人与患者之间的安全交互。软机器人的结构可以看作是一个非线性弹簧,可以设计成在机器人工作空间内施加安全力,以保证人机交互的安全性。文献表明,对心脏和腹部进行有效的超声成像需要六个自由度。这些自由度包括三个平移运动(使用一种新型的混合软缆驱动并联机器人实现)和三个手腕运动(基于万向关节设计)。实验结果表明,该机器人可以实现这6个自由度,并且可以设计其阻挡力,使其在工作空间内产生均匀的力。
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Toward Development of Novel Remote Ultrasound Robotic System Using Soft Robotics Technology
Abstract 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.
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