CASIA OpenIR  > 复杂系统认知与决策实验室  > 先进机器人
Robot-Assisted Trans-Esophageal Ultrasound and the Virtual Admittance-Based Master-Slave Control Method Thereof
Xie Yiping(谢亿平)1,2; Guo Jun(郭君)3; Deng Zhaokun(邓兆锟)1,2; Hou Xilong(侯西龙)4; Housden James5; Rhode Kawal5; Liu Hongbin(刘宏斌)2,4; Hou Zeng-Guang(侯增广)2; Wang Shuangyi(王双翌)2,4
Source PublicationIEEE/ASME Transactions on Mechatronics
2023-03
Pages在线发表
Contribution Rank2
Abstract

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.

MOST Discipline Catalogue工学 ; 工学::机械工程 ; 工学::控制科学与工程
DOI10.1109/TMECH.2023.3247832
Indexed BySCI
Language英语
IS Representative Paper
Sub direction classification人工智能+医疗
planning direction of the national heavy laboratory实体人工智能系统(软、硬件)
Paper associated data
Citation statistics
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/51836
Collection复杂系统认知与决策实验室_先进机器人
Corresponding AuthorWang Shuangyi(王双翌)
Affiliation1.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
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Corresponding Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
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.
Files in This Item: Download All
File Name/Size DocType Version Access License
Robot-Assisted_Trans(2038KB)期刊论文出版稿开放获取CC BY-NC-SAView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Xie Yiping(谢亿平)]'s Articles
[Guo Jun(郭君)]'s Articles
[Deng Zhaokun(邓兆锟)]'s Articles
Baidu academic
Similar articles in Baidu academic
[Xie Yiping(谢亿平)]'s Articles
[Guo Jun(郭君)]'s Articles
[Deng Zhaokun(邓兆锟)]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Xie Yiping(谢亿平)]'s Articles
[Guo Jun(郭君)]'s Articles
[Deng Zhaokun(邓兆锟)]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: Robot-Assisted_Trans-Esophageal_Ultrasound_and_the_Virtual_Admittance-Based_Master-Slave_Control_Method_Thereof.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.