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

Research output: Chapter in Book/Report/Conference proceedingOther chapter contribution

Lukas Lindenroth, Avinash Soor, Jack Hutchinson, Amber Shafi, Junghwan Back, Kawal Rhode, Hongbin Liu

Original languageEnglish
Title of host publicationIROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9781538626825
Publication statusPublished - 13 Dec 2017
Event2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017 - Vancouver, Canada
Duration: 24 Sep 201728 Sep 2017


Conference2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017

King's Authors


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.

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