Robot-Assisted Ultrasound Probe Force Control Under Respiration-Induced Motion
Journal
IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Journal Volume
2
Start Page
249
End Page
254
ISSN
2159-6247
ISBN (of the container)
9798350355369
ISBN
9798350355369
Date Issued
2024-07-15
Author(s)
Kai-Shiang Yuan
DOI
10.1109/AIM55361.2024.10637095
Abstract
A robot-assisted force control system for stable ultrasound imaging has been developed for abdomen intervention. The system aims to integrate {6 - D o F} robot arm, 6 -axis force/torque sensor, and ultrasound probe, featuring automatic stabilization during intervention and real-time compensation for respiratory disturbance. Following the procedural workflow, the system has two operational modes. The first, rooted in admittance control, swiftly positions the robotic-held ultrasound for efficient registration. The second mode, employing the proposed adaptive control, ensures stable contact despite respiratory motion influences, enhancing procedural resilience and effectiveness. The adaptive controller predicts and eliminates disturbances more effectively than the baseline admittance controller, thanks to its utilization of the pseudo-periodic nature of respiration. The efficacy of the adaptive controller has been verified through experiments with a sponge abdomen phantom, demonstrating significant improvements in force regulation.
Event(s)
2024 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2024, Boston15 July 2024 through 19 July 2024. Code 202065
SDGs
Publisher
IEEE
Type
conference paper