DocumentCode :
2594174
Title :
Ergonomic control strategies for a handheld force-controlled ultrasound probe
Author :
Gilbertson, Matthew W. ; Anthony, Brian W.
Author_Institution :
Dept. of Mech. Eng., Massachusetts Inst. of Technol. (MIT), Cambridge, MA, USA
fYear :
2012
fDate :
7-12 Oct. 2012
Firstpage :
1284
Lastpage :
1291
Abstract :
An ergonomic, handheld, force-controlled ultrasound probe has been developed for medical imaging applications. The device, which consists of an ultrasound probe mounted to a backlash-free ball screw actuator and driven by a compact servo motor, maintains a prescribed contact force between the ultrasound probe and patient´s body. A control system which combines both a position and a force controller enables ergonomic operation by keeping the actuator centered within its range of motion and permits the repeated making and breaking of probe-patient contact. By controlling ultrasound probe contact force and consequently the amount of tissue deformation, the system enhances the repeatability, usability, and diagnostic capabilities of ultrasound imaging.
Keywords :
actuators; ball screws; biological tissues; biomedical ultrasonics; ergonomics; force control; medical image processing; position control; probes; servomotors; ultrasonic imaging; backlash free ball screw actuator; compact servo motor; ergonomic control strategy; handheld force controlled ultrasound probe; medical imaging application; position control; probe-patient contact; tissue deformation; Actuators; Force; Imaging; Position control; Probes; Ultrasonic imaging;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on
Conference_Location :
Vilamoura
ISSN :
2153-0858
Print_ISBN :
978-1-4673-1737-5
Type :
conf
DOI :
10.1109/IROS.2012.6385996
Filename :
6385996
Link To Document :
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