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

doi:10.1115/DETC2009-87479

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 proceeding › Conference 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 language	English (US)
Title of host publication	Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009
Pages	767-773
Number of pages	7
Edition	PART B
DOIs	https://doi.org/10.1115/DETC2009-87479
State	Published - 2010
Event	2009 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2009 - San Diego, CA, United States Duration: Aug 30 2009 → Sep 2 2009

Publication series

Name	Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009
Number	PART B
Volume	7

Conference

Conference	2009 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2009
Country/Territory	United States
City	San Diego, CA
Period	8/30/09 → 9/2/09

ASJC Scopus subject areas

Electrical and Electronic Engineering
Hardware and Architecture
Computer Networks and Communications

Access to Document

10.1115/DETC2009-87479

Cite this

Provorse, A. R., Nelson, C. A., Bashford, G. R., Burnfield, J. M., & Kulig, K. (2010). An under-actuated 5-DOF robotic manipulator for ultrasound transducer guidance using a passive four-bar linkage. In Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009 (PART B ed., pp. 767-773). (Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009; Vol. 7, No. PART B). https://doi.org/10.1115/DETC2009-87479

An under-actuated 5-DOF robotic manipulator for ultrasound transducer guidance using a passive four-bar linkage. / Provorse, Allan R.; Nelson, Carl A.; Bashford, Gregory R. et al.
Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009. PART B. ed. 2010. p. 767-773 (Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009; Vol. 7, No. PART B).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Provorse, AR, Nelson, CA, Bashford, GR, Burnfield, JM & Kulig, K 2010, An under-actuated 5-DOF robotic manipulator for ultrasound transducer guidance using a passive four-bar linkage. in Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009. PART B edn, Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009, no. PART B, vol. 7, pp. 767-773, 2009 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2009, San Diego, CA, United States, 8/30/09. https://doi.org/10.1115/DETC2009-87479

Provorse AR, Nelson CA, Bashford GR, Burnfield JM, Kulig K. An under-actuated 5-DOF robotic manipulator for ultrasound transducer guidance using a passive four-bar linkage. In Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009. PART B ed. 2010. p. 767-773. (Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009; PART B). doi: 10.1115/DETC2009-87479

Provorse, Allan R. ; Nelson, Carl A. ; Bashford, Gregory R. et al. / An under-actuated 5-DOF robotic manipulator for ultrasound transducer guidance using a passive four-bar linkage. Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009. PART B. ed. 2010. pp. 767-773 (Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009; PART B).

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

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