ArticleIEEE transactions on instrumentation and measurement2023
A Novel Ultrasound Robot with Force/torque Measurement and Control for Safe and Efficient Scanning.
Article in IEEE transactions on instrumentation and measurement, 2023. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 10 papers, 2 of them syntheses that pooled it.
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Who cites it
10 citing papers in PubMed, 2 syntheses or guidelines pooled it.
- Technological evolution and research frontiers of robot-assisted ultrasound examination: a bibliometric exploration.Journal of robotic surgery · 2025Pooled it
- A systematic review of EEG based automated schizophrenia classification through machine learning and deep learning.Frontiers in human neuroscience · 2024Pooled it
- Mechanically adaptive materials with tunable stiffness for biomedical devices: Mechanisms, applications, and perspectives.Materials today. Bio · 2026Review
- 3D Vision-Guided Adaptive 3D Ultrasonic Scanning for Robotic Arms: Nondestructive Testing of Aerospace Components.Sensors (Basel, Switzerland) · 2026Article
- A Review and Perspective of Techniques for Autonomous Robotic Ultrasound Acquisitions.Sensors (Basel, Switzerland) · 2026Review
- Roadmap towards personalized approaches and safety considerations in non-ionizing radiation: from dosimetry to therapeutic and diagnostic applications.Physics in medicine and biology · 2026Review
- Integrating Contrastive Learning and Cycle Generative Adversarial Networks for Non-invasive Fetal ECG Extraction.Pediatric cardiology · 2025Article
- Dual Radar: A Multi-modal Dataset with Dual 4D Radar for Autononous Driving.Scientific data · 2025Article
- A stochastic model of preventive maintenance strategies for wind turbine gearboxes considering the incomplete maintenance.Scientific reports · 2024Article
- Distributed visual positioning for surgical instrument tracking.Physical and engineering sciences in medicine · 2024Article
Corrections and comments
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Authors and funding
6 authors.
Funding
Abstract
Medical ultrasound is of increasing importance in medical diagnosis and intraoperative assistance and possesses great potential advantages when integrated with robotics. However, some concerns, including the operation efficiency, operation safety, image quality, and comfort of patients, remain after introducing robotics into medical ultrasound. In this paper, an ultrasound robot integrating a force control mechanism, force/torque measurement mechanism, and online adjustment method, is proposed to overcome the current limitations. The ultrasound robot can measure operating forces and torques, provide adjustable constant operating forces, eliminate great operating forces introduced by accidental operations, and achieve various scanning depths based on clinical requirements. The proposed ultrasound robot would potentially facilitate sonographers to find the targets quickly, improve operation safety and efficiency, and decrease patients' discomfort. Simulations and experiments were carried out to evaluate the performance of the ultrasound robot. Experimental results show that the proposed ultrasound robot is able to detect operating force in the z-direction and torques around the x- and y- directions with errors of 3.53% F.S., 6.68% F.S., and 6.11% F.S., respectively, maintain the constant operating force with errors of less than 0.57N, and achieve various scanning depths for target searching and imaging. This proposed ultrasound robot has good performance and would potentially be used in medical ultrasound.
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