DEVELOPMENT OF A KINEMATIC MODEL OF AN INTELLIGENT MEDICAL ROBOT FOR ULTRASOUND DIAGNOSTIC STUDIES.
Abstract
The main reason for using robotic ultrasound is to improve the accuracy and robustness of ultrasound examinations. By removing the human factor from the examination process, robotic systems can perform ultrasounds at a level of accuracy that is difficult to achieve manually. This leads to more accurate diagnosis and treatment plans for patients. This article presents the kinematic modeling of an ultrasound medical robot.
References
1. Current applications of robot-assisted ultrasound examination. Edgar m. Hidalgo bs a, leah wright phd b, mats isaksson phd a, gavin lambert phd a c, thomas h. Marwick mbbs, phd, mph b volume 16, issue 2, february 2023, pages 239-247
2. A novel ultrasound robot with force/torque measurement and control for safe and efficient scanning , xianqiang bao, 10.1109/tim.2023.3239925
3. Burke, M., Lu, K., Angelov, D., Straizys, A., Innes, C., Subr, K., Ramamoorthy,
S., 2020. Learning robotic ultrasound scanning using probabilistic temporal ranking. arXiv preprint arXiv:2002.01240 .
4. Merouche, S., Allard, L., Montagnon, E., Soulez, G., Bigras, P., Cloutier, G., 2015. A robotic ultrasound scanner for automatic vessel tracking and threedimensional reconstruction of b-mode images. IEEE transactions on ultrasonics, ferroelectrics, and frequency control 63, 35–46.
6. https://www.ncbi.nlm.nih.gov/pmc/articles/pmc9350722/
7. Guida, R., et al. ,Modeling techniques for kinematic analysis of a six-axis robotic arm, IOP Conference Series: Materials Science and Engineering. Vol. 568. No. 1. IOP Publishing, 2019
8. Jozef Svetlik, Miroslav Štofa, Martin Pituk, Prototype development of a unique serial kinematic structure of modular configuration, MM Science Journal 2016 (2016): 994-998.
9. Sciavicco, Lorenzo, and Bruno Siciliano, Modelling and control of robot manipulators, Springer Science & Business Media, 2012
10. Khalil, Wisama, and Etienne Dombre, Modeling, identification and control of robots, ButterworthHeinemann, 2004. [
11. Švejda, Martin. ,TAČR Centrum kompetence CIDAM Survey: Existing methods and tools for optimization of mechatronic systems in terms of structure, parameters and control, (2015).
12. Murray, Richard M., et al., A mathematical introduction to robotic manipulation, CRC press, 1994.
13. Nicolescu, Adrian-Florin, Florentin-Marian Ilie, and TudorGeorge Alexandru, Forward and inverse kinematics study of industrial robots taking into account constructive and functional parameter's modeling, Proceedings in Manufacturing Systems 10.4 (2015): 157.
14. Crane III, Carl D., and Joseph Duffy, Kinematic analysis of robot manipulators, Cambridge university press, 2008
