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Ultrasonography01:17

Ultrasonography

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Ultrasonography is an imaging technique that uses high-frequency sound waves to visualize the body's internal structures. It is a non-invasive and safe procedure that does not involve the use of ionizing radiation, making it widely used in various medical fields. Ultrasonography is used to study heart function, blood flow in the neck or extremities, certain conditions such as gallbladder disease, and fetal growth and development.
During an ultrasonography procedure, a handheld device called...
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Updated: May 8, 2025

Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound
07:41

Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound

Published on: January 7, 2019

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通过基础放置和工具设计,提高机器人超声波的可达性.

Jonas Osburg1, Ngoc Thinh Nguyen1, Floris Ernst1

  • 1Insitute for Robotics and Kognitive Systems, University of Luebeck, Luebeck, Germany.

The international journal of medical robotics + computer assisted surgery : MRCAS
|December 27, 2024
PubMed
概括

优化机器人超声波探头持有器的几何结构显著提高了机器人用于医学成像的可达性. 这提高了对目标区域的访问,特别是在狭窄的空间,通过使机器人更好地放置基地.

科学领域:

  • 机器人技术 机器人技术 机器人技术
  • 医疗成像医学成像
  • 机械工程 机械工程

背景情况:

  • 机器人超声波可以在没有电离辐射的情况下实时可视化内部器官.
  • 超声波探针通过专门的探针支架安装在机器人终端效应器上.
  • 探头支架的设计极大地影响了机器人系统的性能和可访问性.

研究的目的:

  • 分析探头支架的几何形状对机器人基地的位置和可达性的影响.
  • 开发一种自动化方法来优化探头持有器设计和机器人配置.
  • 为了提高机器人超声波程序的目标解剖区域的可访问性.

主要方法:

  • 对一个7度自由度 (DoF) 串行操纵器 (KUKA iiwa 7) 进行了各种探针支架几何研究.
  • 开发并验证了一种改进探头支架设计和机器人基地放置的方法.
  • 模拟和评估可达性,用于皮下身体部位的超声波扫描.

主要成果:

  • 改进的探头支架几何结构大大增加了机器人基础位置的数量,可达到性高.
  • 探头支架几何学的调整使得人们能够进入以前无法达到的目标姿势,特别是在空间限制下.
  • 该研究表明,通过优化探头持有器设计,机器人系统可达性显著提高.
关键词:
可达性的可达性.机器人基座的放置方式机器人超声波的使用工具的几何学几何学.超声波肝脏检查 肝脏检查

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结论:

  • 拟议的方法提供了一种自动化的方法来设计高级探头支架的几何形状.
  • 改进的探针支架设计提高了机器人可达性,这对于有效的医疗干预至关重要.
  • 这种优化在空间有限的环境中尤其有益,扩大了机器人超声波的实用性.