Force-assisted ultrasound imaging system through dual force sensing and admittance robot control.

Journal: International journal of computer assisted radiology and surgery
Published Date: Mar 25, 2017

Abstract

PURPOSE: Ultrasound imaging has been a gold standard for clinical diagnoses due to its unique advantages compared to other imaging modalities including: low cost, noninvasiveness, and safeness to the human body. However, the ultrasound scanning process requires applying a large force over extended periods of time, often in uncomfortable postures in order to maintain the desired orientation. This physical requirement over sonographers' careers often leads to musculoskeletal pain and strain injuries.

Authors

  • Ting-Yun Fang
    Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, 21218, USA. tfang5@jhu.edu.
  • Haichong K Zhang
    Johns Hopkins University, Baltimore, MD, USA.
  • Rodolfo Finocchi
    Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, 21218, USA.
  • Russell H Taylor
    Johns Hopkins University, Baltimore, MD, USA.
  • Emad M Boctor
    Johns Hopkins University, Baltimore, MD, USA.

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