Knowledge Commons of Institute of Automation,CAS
Robot-Assisted Trans-Esophageal Ultrasound and the Virtual Admittance-Based Master-Slave Control Method Thereof | |
Xie Yiping(谢亿平)1,2![]() ![]() ![]() ![]() | |
发表期刊 | IEEE/ASME Transactions on Mechatronics
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2023-03 | |
页码 | 在线发表 |
产权排序 | 2 |
摘要 | The robotic transesophageal ultrasound system has the potential to improve the conventional practice of diagnosis and procedure guidance that are currently performed manually. However, the existing system has obvious shortcomings in both mechanism design and safety control under remote teleoperation. This article proposed a new compact mechanism design and achieved remote teleoperation through system integration. Furthermore, this article introduced a virtual admittance-based master-slave control method that meets the needs of ultrasound operation, making the robot autonomous in regulating both force and speed. Through a series of experiments, the accuracy of the robot in operation and the effectiveness of the control method were verified. The proposed control method can regulate the contact force, slowing the increase of the interaction force to ensure safety. It can also adjust the scale of the motion automatically, allowing the user to fine tune the ultrasound plane efficiently. In addition, the controller can increase the backdrivability, avoiding injuries to the tissue due to mishandling. It is therefore concluded that work has significantly improved the usability of a transesophageal ultrasound robot and made this technology further conform to the control habits of ultrasound scanning. |
学科门类 | 工学 ; 工学::机械工程 ; 工学::控制科学与工程 |
DOI | 10.1109/TMECH.2023.3247832 |
收录类别 | SCI |
语种 | 英语 |
是否为代表性论文 | 是 |
七大方向——子方向分类 | 人工智能+医疗 |
国重实验室规划方向分类 | 实体人工智能系统(软、硬件) |
是否有论文关联数据集需要存交 | 否 |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/51836 |
专题 | 复杂系统认知与决策实验室_先进机器人 |
通讯作者 | Wang Shuangyi(王双翌) |
作者单位 | 1.中国科学院大学人工智能学院 2.中国科学院自动化研究所 3.航天中心医院 4.中国科学院香港创新研究院人工智能与机器人创新中心 5.School of Biomedical Engineering and Imaging Sciences, King’s College London |
第一作者单位 | 中国科学院自动化研究所 |
通讯作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Xie Yiping,Guo Jun,Deng Zhaokun,et al. Robot-Assisted Trans-Esophageal Ultrasound and the Virtual Admittance-Based Master-Slave Control Method Thereof[J]. IEEE/ASME Transactions on Mechatronics,2023:在线发表. |
APA | Xie Yiping.,Guo Jun.,Deng Zhaokun.,Hou Xilong.,Housden James.,...&Wang Shuangyi.(2023).Robot-Assisted Trans-Esophageal Ultrasound and the Virtual Admittance-Based Master-Slave Control Method Thereof.IEEE/ASME Transactions on Mechatronics,在线发表. |
MLA | Xie Yiping,et al."Robot-Assisted Trans-Esophageal Ultrasound and the Virtual Admittance-Based Master-Slave Control Method Thereof".IEEE/ASME Transactions on Mechatronics (2023):在线发表. |
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Robot-Assisted_Trans(2038KB) | 期刊论文 | 出版稿 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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