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Robotic Ultrasound Scanning End-Effector with Adjustable Constant Contact Force
Zehao Wu1, Xianli Wang1, Yuning Cao1
1Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Taipa, Macau, China.
Cyborg and Bionic Systems (Washington, D.C.)
|May 5, 2025
Summary
This study introduces a robotic ultrasound system that uses a hybrid active-passive force control to maintain consistent probe contact. This innovation enhances ultrasound imaging stability and repeatability, aiding medical professionals.
Area of Science:
- Medical Imaging
- Robotics
- Control Systems
Background:
- Ultrasound scanning is a crucial, radiation-free diagnostic tool for soft tissue imaging.
- Operator-dependent contact force in manual ultrasound leads to inconsistent image quality and instability.
- Existing systems lack robust solutions for maintaining constant probe-tissue interaction.
Purpose of the Study:
- To develop and evaluate a robotic ultrasound scanning system with a constant-force end-effector.
- To address the challenge of operator variability in achieving stable ultrasound imaging.
- To improve the repeatability and ease of use in ultrasound examinations.
Main Methods:
- Implementation of a novel hybrid active-passive force control strategy for the end-effector.
- Integration of a passive mechanism for force buffering and an active system for positioning.
- Experimental validation using silicone models and human volunteers.
Main Results:
- The robotic system successfully maintained a constant contact force between the ultrasound probe and varying surfaces.
- High repeatability in obtaining qualified ultrasound images was demonstrated.
- Ease of operation for the robotic ultrasound scanning system was verified.
Conclusions:
- The proposed robotic ultrasound scanning system offers a stable and repeatable imaging solution.
- The hybrid force control approach effectively manages contact force variations.
- This technology presents a promising advancement for assisting clinicians in performing ultrasound examinations.
