Automatic ultrasound scanning robotic system with optical waveguide-based force measurement

2021 ◽  
Author(s):  
Shihang Chen ◽  
Zhaojun Li ◽  
Yanping Lin ◽  
Fang Wang ◽  
Qixin Cao
Keyword(s):  
Optical Waveguide ◽  
Force Measurement ◽  
Robotic System ◽  
Ultrasound Scanning

Development of robotic system for autonomous liver screening using ultrasound scanning device

2013 ◽  
Author(s):  
Ammar Safwan Bin Mustafa ◽  
Takashi Ishii ◽  
Yoshiki Matsunaga ◽  
Ryu Nakadate ◽  
Hiroyuki Ishii ◽  
...  
Keyword(s):  
Robotic System ◽  
Ultrasound Scanning ◽  
Scanning Device

scholarly journals Force/position control of a robot manipulator for human-robot interaction

2016 ◽  
Vol 20 (suppl. 2) ◽  
pp. 537-548 ◽  
Author(s):  
Paramin Neranon ◽  
Robert Bicker
Keyword(s):  
Control System ◽  
Real Time ◽  
Position Control ◽  
Force Measurement ◽  
Robot Manipulator ◽  
Robotic System ◽  
Human Robot Interaction ◽  
Robot Interaction ◽  
Integral Control ◽  
Proportional Integral

With regard to both human and robot capabilities, human-robot interaction provides several benefits, and this will be significantly developed and implemented. This work focuses on the development of real-time external force/position control used for human-robot interaction. The force-controlled robotic system integrated with proportional integral control was performed and evaluated to ensure its reliably and timely operational characteristics, in which appropriate proportional integral gains were experimentally adopted using a set of virtual crank-turning tests. The designed robotic system is made up of a robot manipulator arm, an ATI Gamma multi-axis force/torque sensor and a real-time external PC based control system. A proportional integral controller has been developed to provide stable and robust force control on unknown environmental stiffness and motion. To quantify its effectiveness, the robotic system has been verified through a comprehensive set of experiments, in which force measurement and ALTER real-time path control systems were evaluated. In summary, the results indicated satisfactorily stable performance of the robot force/position control system. The gain tuning for proportional plus integral control algorithm was successfully implemented. It can be reported that the best performance as specified by the error root mean square method of the radial force is observed with proportional and integral gains of 0.10 and 0.005 respectively.

Force calibration for an endovascular robotic system with proximal force measurement

2020 ◽  
Vol 16 (2) ◽  
Author(s):  
Naveen Kumar Sankaran ◽  
Pramod Chembrammel ◽  
Thenkurussi Kesavadas
Keyword(s):  
Force Measurement ◽  
Robotic System ◽  
Force Calibration

Evaluation of the fsa hand force measurement system

2006 ◽  
Author(s):  
Kihyo Jung ◽  
Heecheon You ◽  
Ochae Kwon
Keyword(s):  
Measurement System ◽  
Force Measurement ◽  
Hand Force ◽  
Force Measurement System

Comparison of patient perception and ultrasound scanning duration between radial and conventional meander-like breast ultrasound in a clinical setting

2018 ◽  
Author(s):  
P Brasier-Lutz ◽  
C Jäggi-Wickes ◽  
R Burian ◽  
CA Schoenenberger ◽  
S Schaedelin ◽  
...  
Keyword(s):  
Clinical Setting ◽  
Breast Ultrasound ◽  
Patient Perception ◽  
Ultrasound Scanning

Microsurgery Robotic System for the Deep Complicated Procedures: Progress and Future

Skull Base ◽  
2007 ◽  
Vol 17 (S 1) ◽  
Author(s):  
Akio Morita ◽  
Ryo Mochizuki ◽  
Mamoru Mitsuishi ◽  
Shigeo Sora
Keyword(s):  
Robotic System

Hadrian X - Autonomous Robotic System for Bricklaying

2019 ◽  
Vol 5 (6) ◽  
pp. 254-258
Author(s):  
A. Bystrova ◽  
◽  
N. Dembovskii ◽  
S. Sorokina ◽  
D. Dedyaev ◽  
...  
Keyword(s):  
Robotic System
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