Design of a flexible force-sensing platform for medical ultrasound probes

Adrian Schoisengeier; Lukas Lindenroth; Junghwan Back; Chen Qiu; Yohan Noh; Kaspar Althoefer; Jian S. Dai; Kawal Rhode; Hongbin Liu

doi:10.1109/BIOROB.2016.7523638

Design of a flexible force-sensing platform for medical ultrasound probes

Adrian Schoisengeier, Lukas Lindenroth, Junghwan Back, Chen Qiu, Yohan Noh, Kaspar Althoefer, Jian S. Dai, Kawal Rhode, Hongbin Liu^*

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference paper › peer-review

1 Citation (Scopus)

Abstract

Automated ultrasound scanning is a growing research field. However, existing platforms for mounting the ultrasound probe do not possess any soft, compliant properties that would ensure the safety of the patient. Moreover, many current ultrasound manipulators do not include tactile feedback or employ rather expensive commercial force sensors. This paper proposes the design of a flexible platform with soft joints. The device equips an ultrasound manipulator with both compliant behaviour and 6-Axis force feedback without the need of a commercial force sensor. A general methodology was developed to derive the symbolic compliance matrix of such a flexible mechanism. Subsequently, a finite element analysis of the platform was carried out and the results were compared to the analytical solutions. The results show that force sensing based on the analytical method has an error of 5-16% compared to the FEA simulation, depending on the degree of freedom.

Original language	English
Title of host publication	Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
Publisher	IEEE Computer Society Press
Pages	278-283
Number of pages	6
Volume	2016-July
ISBN (Print)	9781509032877
DOIs	https://doi.org/10.1109/BIOROB.2016.7523638
Publication status	Published - 28 Jul 2016
Event	6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016 - Singapore, Singapore Duration: 26 Jun 2016 → 29 Jun 2016

Conference

Conference	6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016
Country/Territory	Singapore
City	Singapore
Period	26/06/2016 → 29/06/2016

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10.1109/BIOROB.2016.7523638

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Schoisengeier, A., Lindenroth, L., Back, J., Qiu, C., Noh, Y., Althoefer, K., Dai, J. S., Rhode, K., & Liu, H. (2016). Design of a flexible force-sensing platform for medical ultrasound probes. In Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics (Vol. 2016-July, pp. 278-283). Article 7523638 IEEE Computer Society Press. https://doi.org/10.1109/BIOROB.2016.7523638

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abstract = "Automated ultrasound scanning is a growing research field. However, existing platforms for mounting the ultrasound probe do not possess any soft, compliant properties that would ensure the safety of the patient. Moreover, many current ultrasound manipulators do not include tactile feedback or employ rather expensive commercial force sensors. This paper proposes the design of a flexible platform with soft joints. The device equips an ultrasound manipulator with both compliant behaviour and 6-Axis force feedback without the need of a commercial force sensor. A general methodology was developed to derive the symbolic compliance matrix of such a flexible mechanism. Subsequently, a finite element analysis of the platform was carried out and the results were compared to the analytical solutions. The results show that force sensing based on the analytical method has an error of 5-16% compared to the FEA simulation, depending on the degree of freedom.",

author = "Adrian Schoisengeier and Lukas Lindenroth and Junghwan Back and Chen Qiu and Yohan Noh and Kaspar Althoefer and Dai, {Jian S.} and Kawal Rhode and Hongbin Liu",

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Schoisengeier, A, Lindenroth, L , Back, J , Qiu, C , Noh, Y , Althoefer, K , Dai, JS , Rhode, K & Liu, H 2016, Design of a flexible force-sensing platform for medical ultrasound probes. in Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics. vol. 2016-July, 7523638, IEEE Computer Society Press, pp. 278-283, 6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016, Singapore, Singapore, 26/06/2016. https://doi.org/10.1109/BIOROB.2016.7523638

Design of a flexible force-sensing platform for medical ultrasound probes. / Schoisengeier, Adrian; Lindenroth, Lukas ; Back, Junghwan et al.
Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics. Vol. 2016-July IEEE Computer Society Press, 2016. p. 278-283 7523638.

Research output: Chapter in Book/Report/Conference proceeding › Conference paper › peer-review

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AU - Back, Junghwan

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AU - Althoefer, Kaspar

AU - Dai, Jian S.

AU - Rhode, Kawal

AU - Liu, Hongbin

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Design of a flexible force-sensing platform for medical ultrasound probes

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