Ergonomic control strategies for a handheld force-controlled ultrasound probe

IEEE International Conference on Intelligent Robots and Systems

Volumn , Issue , 2012, Pages 1284-1291

  Gilbertson, Matthew W ^a   Anthony, Brian W ^a  

^a Massachusetts Institute of Technology Cambridge   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

CONTACT FORCES; CONTROL STRATEGIES; DIAGNOSTIC CAPABILITIES; FORCE CONTROLLER; HANDHELDS; IMAGING APPLICATIONS; RANGE OF MOTIONS; TISSUE DEFORMATIONS; ULTRASOUND IMAGING; ULTRASOUND PROBES;

ACTUATORS; ERGONOMICS; INTELLIGENT SYSTEMS; MEDICAL IMAGING; ULTRASONIC IMAGING; ULTRASONICS;

PROBES;

EID: 84872298304     PISSN: 21530858     EISSN: 21530866     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2012.6385996     Document Type: Conference Paper

References (18)

1. R. Burcher, J.A. Noble, L. Man, "A System for Simultaneously Measuring Contact Force, Ultrasound, and Position Information for use in Force-Based Correction of Freehand Scanning," IEEE Trans. on Ultrason., Ferroelectrics and Freq.Control, 52(8) pp. 1330-42, 2005.
2. S.E. Salcudean, G. Bell, S. Bachmann, "Robot-assisted diagnostic ultrasound - design and feasibility experiments," Medical Image Computing and Computer-Assisted Intervention - MICCAI'99, Springer-Verlag, Berlin, Germany, pp. 1062-71, 1999.
3. E. Degoulange et al, "Hippocrate: an intrinsically safe robot for medical applications." Proceedings. 1998 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems. Innovations in Theory, Practice and Applications, 2:959-64, 1998.
4. A. Vilchis-González, J.C. Avila-Vilchis, and A. García-Torres, "TERMI Robot," Electronics, Robotics and Automotive Mechanics Conf., pp. 464-469, 2007.
5. A. Vilchis, J. Troccaz, P. Cinquin, "A New Robot Architecture for Tele-Echography," IEEE Trans. on Robotics and Automation, 19(5) pp. 922-926, 2003.
6. F. Courreges, P. Vieyres, and R. Istepanian, "Advances in Robotic Tele-Echography Services - the OTELO System,"IEEE Conf. of Engineering in Medicine and Biology Society, 2pp. 5371-5374, 2004.
7. M. Marchal, J. Troccaz, "A one-DOF freehand haptic device for robotic tele-echography," Studies in Health Technology and Informatics, 98 pp. 231 -233, 2004.
8. F. Najafi and N. Sepehri, "A Novel Hand-Controller for Remote Ultrasound Imaging," Mechatronics, 18(10) pp. 578-590, 2008.
9. S. Yuen, D. Kettler, P. Novotny, R. Plowes, R. Howe, "Robotic motion compensation for beating heart intracardiac surgery," Int. Journal of Robotics Research, v 28, n 10, p 1355-72, Oct. 2009.
10. S. Yuen, D. Perrin et al "Force tracking with feed-forward motion estimation for beating heart surgery," IEEE Transactions on Robotics, v 26, n 5, p 888-896, October 2010.
11. W. Zhu et al, "Motion/force/image control of A diagnostic ultrasound robot," IEEE Int. Conf. on Robotics and Automation, v 2, p 1580-1585, 2000.
12. A. Vilchis, et al, "Experiments with the TER tele-echography robot," Conf. on Medical Image Computing and Computer-Assisted Intervention, p 138-46, 2002.
13. M. W. Gilbertson, "Handheld force-controlled ultrasound probe," M.S. thesis, Dept Mechanical Eng., MIT, 2010.
14. M. Gilbertson, B. Anthony, "Impedance-controlled ultrasound probe," Proc. of the SPIE - The International Society for Optical Engineering, v 7968, p 796816 (12 pp.), 2011.
15. J. H. McAuley, J. C. Rothwell, C. D. Marsden, "Frequency peaks of tremor, muscle vibration and electromyographic activity at 10 Hz, 20 Hz and 40 Hz during human finger muscle contraction may reflect rhythmicities of central neural firing," Exp. Brain Res. (1997) 114:525-541
16. N. Hogan, "Impedance control: an approach to manipulation," Parts IIII. Trans. of the ASME. Journal of Dynamic Systems, Measurement and Control, 107(1):1 - 24, 1985.
17. L. Han, J. Noble, M. Burcher, "A novel ultrasound indentation system for measuring biomechanical properties in vivo soft tissue," Ultrasound in Medicine and Biology, v 29, n 6, p 813-23, June 2003.
18. J. Oudry, et al, "Copolymer-in-oil phantom materials for elastography," Ultrasound in Medicine and Biology, v 35, n 7, p 1185-97, July 2009.