ArticleIEEE transactions on bio-medical engineering2020
Design and Integration of a Parallel, Soft Robotic End-Effector for Extracorporeal Ultrasound.
Article in IEEE transactions on bio-medical engineering, 2020. The graph could read no effect estimate from its abstract, so it casts no vote on the map. An erratum has been issued. Cited by 11 papers.
What it found
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The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.
The trial behind it
Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.
Neither the registry nor the abstract names a trial number. If this is a trial report, that itself is worth knowing.
Who cites it
11 citing papers in PubMed, 52 citations in OpenAlex.
- A Review and Perspective of Techniques for Autonomous Robotic Ultrasound Acquisitions.Sensors (Basel, Switzerland) · 2026Review
- A fully autonomous robotic ultrasound system for thyroid scanning.Nature communications · 2024Article
- Toward Development of Novel Remote Ultrasound Robotic System Using Soft Robotics Technology.Journal of engineering and science in medical diagnostics and therapy · 2024Article
- On the feasibility of a robotic probe manipulator for echocardiography in the prone position.Frontiers in robotics and AI · 2024Article
- Soft Robotics: A Systematic Review and Bibliometric Analysis.Micromachines · 2023Review
- Advancements in materials, manufacturing, propulsion and localization: propelling soft robotics for medical applications.Frontiers in bioengineering and biotechnology · 2023Review
- A Novel Ultrasound Robot with Force/torque Measurement and Control for Safe and Efficient Scanning.IEEE transactions on instrumentation and measurement · 2023Article
- Characterization of the Workspace and Limits of Operation of Laser Treatments for Vascular Lesions of the Lower Limbs.Sensors (Basel, Switzerland) · 2022Article
- Hyperelastic Membrane Actuators: Analysis of Toroidal and Helical Multifunctional Configurations.Cyborg and bionic systems (Washington, D.C.) · 2022Article
- Singularity analysis of 3-DOF planar parallel continuum robots with constant curvature links.Frontiers in robotics and AI · 2022Article
- A Constant-Force End-Effector With Online Force Adjustment for Robotic Ultrasonography.IEEE robotics and automation letters · 2021Article
Corrections and comments
- Erratum issued
Authors and funding
6 authors at 1 institution in 1 country.
Funding
Abstract
objectiveIn this work we address limitations in state-of-the-art ultrasound robots by designing and integrating a novel soft robotic system for ultrasound imaging. It employs the inherent qualities of soft fluidic actuators to establish safe, adaptable interaction between ultrasound probe and patient.
methodsWe acquire clinical data to determine the movement ranges and force levels required in prenatal foetal ultrasound imaging and design the soft robotic end-effector accordingly. We verify its mechanical characteristics, derive and validate a kinetostatic model and demonstrate controllability and imaging capabilities on an ultrasound phantom.
resultsThe soft robot exhibits the desired stiffness characteristics and is able to reach 100% of the required workspace when no external force is present, and 95% of the workspace when considering its compliance. The model can accurately predict the end-effector pose with a mean error of 1.18±0.29 mm in position and 0.92±0.47
conclusionThe system is able to withstand loads commonly applied during foetal ultrasound scans and remains controllable with a motion range similar to manual scanning. SIGNIFICANCE: The proposed soft robot presents a safe, cost-effective solution to offloading sonographers in day-to-day scanning routines. The design and modelling paradigms are greatly generalizable and particularly suitable for designing soft robots for physical interaction tasks.
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.