UCL Discovery
UCL home » Library Services » Electronic resources » UCL Discovery

Design and integration of a parallel, soft robotic end-effector for extracorporeal ultrasound

Lindenroth, L; Housden, RJ; Wang, S; Back, J; Rhode, K; Liu, H; (2019) Design and integration of a parallel, soft robotic end-effector for extracorporeal ultrasound. IEEE Transactions on Biomedical Engineering 10.1109/TBME.2019.2957609. (In press). Green open access

[thumbnail of 08922797.pdf]
Preview
Text
08922797.pdf - Accepted Version

Download (11MB) | Preview

Abstract

OBJECTIVE: In this work we address limitations in state-of-the-art ultrasound robots by designing and integrating a novel soft robotic system for ultrasound imaging. It employs the inherent qualities of soft fluidic actuators to establish safe, adaptable interaction between ultrasound probe and patient. METHODS: We acquire clinical data to determine the movement ranges and force levels required in prenatal foetal ultrasound imaging and design the soft robotic end-effector accordingly. We verify its mechanical characteristics, derive and validate a kinetostatic model and demonstrate controllability and imaging capabilities on an ultrasound phantom. RESULTS: The soft robot exhibits the desired stiffness characteristics and is able to reach 100% of the required workspace when no external force is present, and 95% of the workspace when considering its compliance. The model can accurately predict the end-effector pose with a mean error of 1:18 ± 0:29mm in position and 0:92 ± 0:47° in orientation. The derived controller is, with an average position error of 0.39mm, able to track a target pose efficiently without and with externally applied loads. Ultrasound images acquired with the system are of equally good quality compared to a manual sonographer scan. CONCLUSION: The system is able to withstand loads commonly applied during foetal ultrasound scans and remains controllable with a motion range similar to manual scanning. SIGNIFICANCE: The proposed soft robot presents a safe, cost-effective solution to offloading sonographers in day-to-day scanning routines. The design and modelling paradigms are greatly generalizable and particularly suitable for designing soft robots for physical interaction tasks.

Type: Article
Title: Design and integration of a parallel, soft robotic end-effector for extracorporeal ultrasound
Location: United States
Open access status: An open access version is available from UCL Discovery
DOI: 10.1109/TBME.2019.2957609
Publisher version: https://doi.org/10.1109/TBME.2019.2957609
Language: English
Additional information: This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions.
Keywords: Soft robotics, hydraulics, parallel, design, fabrication, kinetostatics, ultrasound, imaging
UCL classification: UCL
UCL > Provost and Vice Provost Offices > UCL BEAMS
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Med Phys and Biomedical Eng
URI: https://discovery.ucl.ac.uk/id/eprint/10091816
Downloads since deposit
122Downloads
Download activity - last month
Download activity - last 12 months
Downloads by country - last 12 months

Archive Staff Only

View Item View Item