Hippocrate: a safe robot arm for medical applications with force feedback

Area of Science:

• Robotics
• Medical Engineering
• Cardiovascular Disease Research

Background:

• Ultrasonic probes are crucial for monitoring arteries and preventing cardiovascular disease.
• Accurate force application during ultrasound procedures is essential for effective arterial profile reconstruction.
• Existing methods may lack the precision and safety required for advanced medical applications.

Purpose of the Study:

• To develop and validate a robotic system for assisting physicians in ultrasonic probe manipulation.
• To ensure precise force control during ultrasound examinations for cardiovascular health.
• To explore the potential of the robotic system in reconstructive surgery.

Main Methods:

• Design and implementation of a dedicated robotic system named 'Hippocrate'.
• Development of advanced force control schemes and safety-compliant architectures.
• Validation through preliminary feasibility studies using an industrial robot and in vivo testing.

Main Results:

• The robotic system demonstrated effective force control for ultrasonic probe movements.
• Feasibility studies confirmed the value of a robotized approach in medical applications requiring force control.
• Preliminary in vivo results indicate successful application and potential for future uses.

Conclusions:

• The 'Hippocrate' robotic system offers a safe and effective solution for ultrasound-guided arterial monitoring.
• Robotized force control is beneficial for cardiovascular disease prevention and medical imaging.
• The system shows promise for expanded applications, including reconstructive surgery.