Parallel Robot for Medical 3D-Ultrasound Imaging

Ultrasound 3D systems are being developed to potentially replace traditional 2D equipments in the diagnosis of vascular disease. Ultrasound is non-invasive, low-cost, and nonionizing. To allow the 3D reconstruction of ultrasound images, the probe position must be known at all time. Freehand tracking devices were first considered but they lacked constant precision. Robots are now being developed to perform the ultrasound scan, allowing a constant precision, a simple manipulation, and standardization. Researchers are currently experimenting semiautomated robot scans, for facilitating further the examination. Different applications call for different robot architectures. Peripheral arterial disease has not yet been considered for automation probably because lower limb vessel examination requires long acquisitions. This paper presents a new robot for an ultrasound robot design that addresses this problem. This parallel robot is able to perform multiple ultrasound 3D examinations on a human patient