nach oben

Erschienen in:

2018 | OriginalPaper | Buchkapitel

A Pneumatic Haptic Probe Replica for Tele-Robotized Ultrasonography

verfasst von : Ibrahim Abdallah, Fabrice Gatwaza, Nicolas Morette, Arnaud Lelevé, Cyril Novales, Laurence Nouaille, Xavier Brun, Pierre Vieyres

Erschienen in: Smart Multimedia

Verlag: Springer International Publishing

Einloggen

Aktivieren Sie unsere intelligente Suche, um passende Fachinhalte oder Patente zu finden.

search-config

KI-gestützte Suche

Aus

Abstract

This paper introduces a pneumatic haptic device to remotely control a slave ultrasound probe-holder robot. This device should orientate this probe according to the sonographer’s examination needs, while rendering the force applied by it on the patient’s body, in order to provide a realistic examination environment as in situ. Previous designs with electric actuators were limited in terms of torque, dimensions and ergonomics, which actually did not match end-users’ remote ultrasonography requirements. This paper describes the mechatronic design of an haptic pneumatic probe replica and preliminary control laws for it to perform as a Variable Stiffness Actuator (VSA). This approach is original and experimental results are provided to validate its feasibility.

Sie haben noch keine Lizenz? Dann Informieren Sie sich jetzt über unsere Produkte:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

über 102.000 Bücher
über 537 Zeitschriften

aus folgenden Fachgebieten:

Automobil + Motoren
Bauwesen + Immobilien
Business IT + Informatik
Elektrotechnik + Elektronik
Energie + Nachhaltigkeit
Finance + Banking
Management + Führung
Marketing + Vertrieb
Maschinenbau + Werkstoffe
Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

Jetzt informieren

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

über 67.000 Bücher
über 390 Zeitschriften

aus folgenden Fachgebieten:

Automobil + Motoren
Bauwesen + Immobilien
Business IT + Informatik
Elektrotechnik + Elektronik
Energie + Nachhaltigkeit
Maschinenbau + Werkstoffe

Jetzt Wissensvorsprung sichern!

Jetzt informieren

Springer Professional "Wirtschaft"

Online-Abonnement

Mit Springer Professional "Wirtschaft" erhalten Sie Zugriff auf:

über 67.000 Bücher
über 340 Zeitschriften

aus folgenden Fachgebieten:

Bauwesen + Immobilien
Business IT + Informatik
Finance + Banking
Management + Führung
Marketing + Vertrieb
Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

Jetzt informieren

Vorheriges Kapitel Deep Reinforcement Learning Methods for Navigational Aids

Nächstes Kapitel Haptic Vision: Augmenting Non-visual Travel and Accessing Environmental Information at a Distance

Abry, F., Brun, X., Sesmat, S., Bideaux, E.: Non-linear position control of a pneumatic actuator with closed-loopstiffness and damping tuning. In: Proceedings of the European Control Conference 2013 (2013)

Falcao Carneiro, J., Gomes de Almeida, F.: Using two servovalves to improve pneumatic force control in industrial cylinders. Int. J. Adv. Manuf. Technol. 66(1–4), 283–301 (2013)CrossRef

Cestari, M., Sanz-Merodio, D., Arevalo, J.C., Garcia, E.: Ares, a variable stiffness actuator with embedded force sensor for the atlas exoskeleton. Ind. Robot.: Int. J. 41(6), 518–526 (2014)CrossRef

Charron, G., et al.: Robotic platform for an interactive tele-echographic system: the prosit anr-2008 project. In: Proceedings of Hamlyn Symposium on Medical Robotics, London, UK, May 2010

Conti, F., Park, J., Khatib, O.: Interface design and control strategies for a robot assisted ultrasonic examination system. In: Khatib, O., Kumar, V., Sukhatme, G. (eds.) Experimental Robotics. Springer Tracts in Advanced Robotics, vol. 79, pp. 97–113. Springer, Heidelberg (2014). https://doi.org/10.1007/978-3-642-28572-1_7CrossRef

Courreges, F., Novales, C., Poisson, G., Vieyres, P.: Modelisation, commande geometrique et utilisation d’un robot portable de tele-echographie: teresa. J. Eur. Syst. Autom. (JESA) 43(1), 165–196 (2009). ISSN 12696935

Gourdon, A., Poignet, P., Poisson, G., Vieyres, P., Marche, P.: A new robotic mechanism for medical application. In: Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 1999), pp. 33–38 (1999)

Groothuis, S.S., Rusticelli, G., Zucchelli, A., Stramigioli, S., Carloni, R.: The variable stiffness actuator vsaUT-II: mechanical design, modeling, and identification. IEEE/ASME Trans. Mechatron. 19(2), 589–597 (2014)CrossRef

Jafari, A., Tsagarakis, N.G., Sardellitti, I., Caldwell, D.G.: A new actuator with adjustable stiffness based on a variable ratio lever mechanism. IEEE/ASME Trans. Mechatron. 19(1), 55–63 (2014)CrossRef

10.

Krupa, A., Folio, D., Novales, C., Vieyres, P., Li, T.: Robotized tele-echography: an assisting visibility tool to support expert diagnostic. IEEE Syst. J. PP(99), 1–10 (2014)

11.

Masuda, K., Kimura, E., Tateishi, N., Ishihara, K.: Three dimensional motion mechanism of ultrasound probe and its application for tele-echography system. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, vol. 2, pp. 1112–1116 (2001)

12.

Mourioux, G., Novales, C., Smith-Guerin, N., Vieyres, P., Poisson, G.: A free haptic device for tele-echography. In: Proceedings of International Workshop on Research and Education in Mechatronics (REM 2005), Annecy, June 2005

13.

Najafi, F., Sepehri, N.: A novel hand-controller for remote ultrasound imaging. Mechatronics 18(10), 578–590 (2008)CrossRef

14.

Nouaille, L., Vieyres, P., Poisson, G.: Process of optimisation for a 4 DOF tele-echography robot. Robotica 30, 1131–1145 (2012)CrossRef

15.

Abd, R., Rahman, L.H., Sepehri, N.: Design and experimental study of a dynamical adaptive backstepping–sliding mode control scheme for position tracking and regulating of a low-cost pneumatic cylinder. Int. J. Robust Nonlinear Control. 26(4), 853–875 (2016)MathSciNetCrossRef

16.

Semini, C., Tsagarakis, N.G., Guglielmino, E., Focchi, M., Cannella, F., Caldwell, D.G.: Design of HyQ-a hydraulically and electrically actuated quadruped robot. Proc. Inst. Mech. Eng. Part J. Syst. Control Eng. 225, 831–849 (2011)

17.

Senac, T., Lelevé, A., Moreau, R.: Control laws for pneumatic cylinder in order to emulate the loss of resistance principle. In: IFAC 2017 World Congress, Proceedings of the 20th World Congress of the International Federation of Automatic Control, Toulouse, France, July 2017. IFAC (2017)

18.

Takaiwa, M., Noritsugu, T.: Development of pneumatic human interface and its application for compliance display. In: Proceedings of 26th Annual Conference of the IEEE Industrial Electronics Society (IECON 2000), pp. 806–811, vol. 2 (2000)

19.

Vieyres, P., et al.: The next challenge for world wide robotized tele-echographyexperiment (wortex 2012): from engineering success to healthcare delivery. In: Proceedings of TUMI II, Congreso Peruano de Ingeniera Biomedical Bioingeniera, Biotecnologica y Fisica Medica, Lima, Peru, May 2013

20.

Vieyres, P., Poisson, G., Courreges, F., Smith-Guerin, N., Novales, C., Arbeille, P.: A tele-operated robotic system for mobile tele-echography: the Otelo project. In: Istepanian, R.S.H., Laxminarayan, S., Pattichis, C.S. (eds.) M-Health. Topics in Biomedical Engineering, pp. 461–473. Springer, Boston (2006). https://doi.org/10.1007/0-387-26559-7_35CrossRef

21.

Vieyres, P., et al.: An anticipative control approach and interactive gui to enhance the rendering of the distal robot interaction with its environment during robotized tele-echography: interactive platform for robotized tele-echography. Int. J. Monit. Surveill. Technol. Res. 1(3), 1–19 (2013)

22.

Vilchis Gonzales, A., et al.: TER: a system for robotic tele-echography. In: Niessen, W.J., Viergever, M.A. (eds.) MICCAI 2001. LNCS, vol. 2208, pp. 326–334. Springer, Heidelberg (2001). https://doi.org/10.1007/3-540-45468-3_39CrossRef

Titel: A Pneumatic Haptic Probe Replica for Tele-Robotized Ultrasonography
verfasst von: Ibrahim Abdallah
Fabrice Gatwaza
Nicolas Morette
Arnaud Lelevé
Cyril Novales
Laurence Nouaille
Xavier Brun
Pierre Vieyres
Verlag: Springer International Publishing
Buch: Smart Multimedia
Print ISBN: 978-3-030-04374-2

Electronic ISBN: 978-3-030-04375-9

Copyright-Jahr: 2018
DOI: https://doi.org/10.1007/978-3-030-04375-9_7

Springer Professional

Abstract

Bitte loggen Sie sich ein, um Zugang zu Ihrer Lizenz zu erhalten.

Sie haben noch keine Lizenz? Dann Informieren Sie sich jetzt über unsere Produkte:

Springer Professional "Wirtschaft+Technik"

Springer Professional "Technik"

Springer Professional "Wirtschaft"