Design of a soft, parallel end-effector applied to robot-guided ultrasound interventions

TY - CHAP

T1 - Design of a soft, parallel end-effector applied to robot-guided ultrasound interventions

AU - Lindenroth, Lukas

AU - Soor, Avinash

AU - Hutchinson, Jack

AU - Shafi, Amber

AU - Back, Junghwan

AU - Rhode, Kawal

AU - Liu, Hongbin

PY - 2017/12/13

Y1 - 2017/12/13

N2 - Medical ultrasound imaging robotics systems often comprise of complex control architectures and hardware integration to enable safe human robot interaction. In this paper, we investigate the applicability of a soft robotic end-effector for ultrasound intervention. A novel, parallel design is derived based on the medical requirements, which addresses common shortcomings in both robotic ultrasound systems and soft robotic devices. Individual actuators are developed and characterized and the performance of the overall platform is evaluated in regards to its stiffness and steerability. It is shown that the platform comprises relatively high longitudinal and transversal stiffness, while still being compliant enough to ensure the safety of the patient. The shear stiffness of the platform is 4.2 times greater than the shear stiffness of an individual actuator. The platform is capable of applying loadings of 10N along its longitudinal axis, which makes it suitable for the given application. Furthermore, the workspace of the platform is suitable to robot-guided ultrasound with a maximum platform rotation range of ±14.8°, while only moving ±7mm in space.

AB - Medical ultrasound imaging robotics systems often comprise of complex control architectures and hardware integration to enable safe human robot interaction. In this paper, we investigate the applicability of a soft robotic end-effector for ultrasound intervention. A novel, parallel design is derived based on the medical requirements, which addresses common shortcomings in both robotic ultrasound systems and soft robotic devices. Individual actuators are developed and characterized and the performance of the overall platform is evaluated in regards to its stiffness and steerability. It is shown that the platform comprises relatively high longitudinal and transversal stiffness, while still being compliant enough to ensure the safety of the patient. The shear stiffness of the platform is 4.2 times greater than the shear stiffness of an individual actuator. The platform is capable of applying loadings of 10N along its longitudinal axis, which makes it suitable for the given application. Furthermore, the workspace of the platform is suitable to robot-guided ultrasound with a maximum platform rotation range of ±14.8°, while only moving ±7mm in space.

UR - http://www.scopus.com/inward/record.url?scp=85041963935&partnerID=8YFLogxK

U2 - 10.1109/IROS.2017.8206219

DO - 10.1109/IROS.2017.8206219

M3 - Other chapter contribution

AN - SCOPUS:85041963935

VL - 2017-September

SP - 3716

EP - 3721

BT - IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017

Y2 - 24 September 2017 through 28 September 2017

ER -