Towards a real-time control of robotic ultrasound using haptic force feedback

Abstract

Ultrasound is a widely used imaging technique and is appreciated for its non-invasiveness, absence of radiation, widespread availability, and compact equipment. Ergonomic difficulties in manual handling of the probe could be enhanced by a robotic controlled ultrasound. The paper addresses the development of such a system which enables remote operation of a ultrasound probe and includes haptic force feedback as well as video conferencing components for visual feedback. The development process followed a user-centered approach by investigating needs of potential end-users. Preliminary results demonstrated the functionality of the developed system for generating medical image data under laboratory conditions.

Keywords

• human-robot interaction
• robotic ultrasound
• tele-operation
• medical robotics