用于体外超声的并行软机器人末端执行器的设计和集成
Design and integration of a parallel, soft robotic end-effector for extracorporeal ultrasound
摘要：
目的：在这项工作中，我们解决了国家的最先进的超声机器人的限制，通过设计和集成一种新的软机器人系统的超声成像。它采用软流体致动器的固有品质，以在超声探头和患者之间建立安全、适应性强的相互作用。研究方法：我们收集临床数据，以确定产前胎儿超声成像所需的运动范围和力的水平，并设计相应的软机器人末端执行器。我们验证其机械特性，推导和验证动静态模型，并证明可控性和成像能力的超声幻影。结果如下：该软体机器人具有理想的刚度特性，在无外力作用时，能够达到所需工作空间的100%，而在考虑其柔顺性时，能够达到所需工作空间的95%。该模型能够准确预测末端执行器的位姿，位置平均误差为1.18 ± 0.29 mm，方向平均误差为0.92 ± 0.47 °。推导出的控制器是，平均位置误差为0.39毫米，能够有效地跟踪目标位姿没有和外部施加的负载。与手动超声仪扫描相比，使用该系统采集的超声图像具有同样好的质量。结论：该系统能够承受在胎儿超声扫描期间通常施加的负载，并且在类似于手动扫描的运动范围内保持可控。意义：所提出的软体机器人提供了一种安全、具有成本效益的解决方案，可以减轻超声医师在日常扫描程序中的负担。设计和建模范例是非常普遍的，特别适合于设计软体机器人的物理交互任务。
英文摘要：
Objective: In this work we address limitations in state-of-the-art ultrasound robots by designing and integrating a novel soft robotic system for ultrasound imaging. It employs the inherent qualities of soft fluidic actuators to establish safe, adaptable interaction between ultrasound probe and patient. Methods: We acquire clinical data to determine the movement ranges and force levels required in prenatal foetal ultrasound imaging and design the soft robotic end-effector accordingly. We verify its mechanical characteristics, derive and validate a kinetostatic model and demonstrate controllability and imaging capabilities on an ultrasound phantom. Results: The soft robot exhibits the desired stiffness characteristics and is able to reach 100% of the required workspace when no external force is present, and 95% of the workspace when considering its compliance. The model can accurately predict the end-effector pose with a mean error of 1.18+/-0.29mm in position and 0.92+/-0.47deg in orientation. The derived controller is, with an average position error of 0.39mm, able to track a target pose efficiently without and with externally applied loads. Ultrasound images acquired with the system are of equally good quality compared to a manual sonographer scan. Conclusion: The system is able to withstand loads commonly applied during foetal ultrasound scans and remains controllable with a motion range similar to manual scanning. Significance: The proposed soft robot presents a safe, cost-effective solution to offloading sonographers in day-to-day scanning routines. The design and modelling paradigms are greatly generalizable and particularly suitable for designing soft robots for physical interaction tasks.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
