SAPM: Self-Adaptive Parallel Manipulator With Pose and Force Adjustment for Robotic Ultrasonography

doi:10.1109/TIE.2022.3220864

CORC > 自动化研究所 > 中国科学院自动化研究所 > 多模态人工智能系统全国重点实验室

	SAPM: Self-Adaptive Parallel Manipulator With Pose and Force Adjustment for Robotic Ultrasonography
	Bao, Xianqiang 1; Wang, Shuangyi 3; Zheng, Lingling 2; Housden, Richard James 1; Hajnal, Joseph 1; Rhode, Kawal 1
刊名	IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
	2023-10-01
卷号	70 期号:10 页码:10333-10343
关键词	Probes Robots Manipulators Force Safety Force measurement Ultrasonography Automatic pose adjustment constant forces torques mechanical measurement operation safety robotic ultrasonography
ISSN号	0278-0046
DOI	10.1109/TIE.2022.3220864
通讯作者	Wang, Shuangyi(shuangyi.wang@ia.ac.cn)
英文摘要	Robotic ultrasonography potentially acts as an essential aid to medical diagnosis. To overcome the limitations in robotic ultrasonography, in this article, we proposed a novel self-adaptive parallel manipulator (SAPM) that can automatically adjust the ultrasound (US) probe pose to adapt to various contours of scanned areas, provide approximate constant operating forces/torques, achieve mechanical measurement, and cushion undesired produced forces. A novel parallel adjustment mechanism is proposed to attain automatic pose adjustment with 3 degrees of freedom (DOFs). This mechanism enables the US probe to adapt to different scanned areas and to perform the scanning with approximate constant forces and torques. Besides, we present a mechanical measurement and safety protection method that can be integrated into the SAPM and used as operation status monitoring and early warning during scanning procedures by capturing operating forces and torques. Experiments were carried out to calibrate the measurement and buffer units and evaluate the performance of the SAPM. Experimental results show the ability of the SAPM to provide 3 DOFs motion and operating force/torque measurement and automatically adjust the US probe pose to capture US images of equally good quality compared to a manual sonographer scan. Moreover, it has characteristics similar to soft robots that could significantly improve operation safety, and could be extended to some other engineering or medical applications.
资助项目	National Institute for Health Research Biomedical Research Centre at Guy's and St. Thomas' NHS Foundation Trust and King's College London, the Wellcome/EPSRC Centre for Medical Engineering[WT 203148/Z/16/Z] ; Wellcome Trust IEH Award[102431] ; National Natural Science Foundation of China[62003339] ; Open Project of the State Key Laboratory of Management and Control for Complex Systems at Chinese Academy of Sciences[20200116]
WOS关键词	ULTRASOUND ; SYSTEM
WOS研究方向	Automation & Control Systems ; Engineering ; Instruments & Instrumentation
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:000975423100059
资助机构	National Institute for Health Research Biomedical Research Centre at Guy's and St. Thomas' NHS Foundation Trust and King's College London, the Wellcome/EPSRC Centre for Medical Engineering ; Wellcome Trust IEH Award ; National Natural Science Foundation of China ; Open Project of the State Key Laboratory of Management and Control for Complex Systems at Chinese Academy of Sciences
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/53411]
专题	多模态人工智能系统全国重点实验室
通讯作者	Wang, Shuangyi
作者单位	1.Kings Coll London, Sch Biomed Engn & Imaging Sci, London SE1 7EH, England 2.Kagawa Univ, Fac Engn & Design, Takamatsu 7610396, Japan 3.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
推荐引用方式 GB/T 7714	Bao, Xianqiang,Wang, Shuangyi,Zheng, Lingling,et al. SAPM: Self-Adaptive Parallel Manipulator With Pose and Force Adjustment for Robotic Ultrasonography[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2023,70(10):10333-10343.
APA	Bao, Xianqiang,Wang, Shuangyi,Zheng, Lingling,Housden, Richard James,Hajnal, Joseph,&Rhode, Kawal.(2023).SAPM: Self-Adaptive Parallel Manipulator With Pose and Force Adjustment for Robotic Ultrasonography.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,70(10),10333-10343.
MLA	Bao, Xianqiang,et al."SAPM: Self-Adaptive Parallel Manipulator With Pose and Force Adjustment for Robotic Ultrasonography".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 70.10(2023):10333-10343.