An under-actuated 5-DOF robotic manipulator for ultrasound transducer guidance using a passive four-bar linkage

Allan R. Provorse, Carl A. Nelson, Gregory R. Bashford, Judith M. Burnfield, Kornelia Kulig

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Robotic devices have made inroads in various areas of medical practice. This paper offers a design of robot kinematics for ultrasound probe manipulation to obtain reproducible Achilles tendon images for quantifying injury or response to treatment. The design includes a motor-controlled 4-DOF arm with an additional smaller, passive four-bar linkage mount for the ultrasound probe to optimize surface contact with the subject and increase the mobility to 5 DOF.

Original languageEnglish (US)
Title of host publicationASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2009
Pages767-773
Number of pages7
EditionPARTS A AND B
DOIs
StatePublished - Dec 1 2009
EventASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2009 - San Diego, CA, United States
Duration: Aug 30 2009Sep 2 2009

Publication series

NameProceedings of the ASME Design Engineering Technical Conference
NumberPARTS A AND B
Volume7

Conference

ConferenceASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2009
CountryUnited States
CitySan Diego, CA
Period8/30/099/2/09

Keywords

  • Four-bar linkage
  • Ultrasound guidance
  • Under-actuated robot

ASJC Scopus subject areas

  • Modeling and Simulation
  • Mechanical Engineering
  • Computer Science Applications
  • Computer Graphics and Computer-Aided Design

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  • Cite this

    Provorse, A. R., Nelson, C. A., Bashford, G. R., Burnfield, J. M., & Kulig, K. (2009). An under-actuated 5-DOF robotic manipulator for ultrasound transducer guidance using a passive four-bar linkage. In ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2009 (PARTS A AND B ed., pp. 767-773). (Proceedings of the ASME Design Engineering Technical Conference; Vol. 7, No. PARTS A AND B). https://doi.org/10.1115/DETC2009-87479