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Updated: Jul 2, 2026
Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound
Published on: January 7, 2019
Adaptive Admittance Control for Robotic Ultrasound Examination Based on a Breast Biomechanical Model
Dong Guo1, Yongde Zhang1, Fujun Zhang2
1Harbin University of Science and Technology, Harbin, China.
Background:
Autonomous Robotic Ultrasound Systems (ARUS) enable standardized breast cancer screening, but accurate breast localization and the nonlinear deformation of soft tissue hinder stable contact-force control.
Methods:
We propose a framework integrating visual perception with compliant control. An adaptive gradient-based edge detector extracts the nipple position, and a Variable Damping Admittance Control based on a Breast Biomechanical Model (VDAC-BBM) is developed, which compensates for tissue deformation via a biomechanical prior and dynamically tunes the damping parameter in real time to suppress force error.
Results:
Phantom and human experiments showed force tracking error ≤ 0.4 N, with disturbance recovery speed improved by 16.5%-21.3% over conventional admittance control across the tested target forces.
Conclusion:
Embedding a biomechanical prior into the control strategy enhances force compliance and stability during robotic scanning of deformable soft tissue, providing a technical basis for clinical translation.
