Nullspace Control for Automatic Ultrasound Gel Supply
Ultrasound gel is used as a coupling medium in ultrasound procedures, thereby ensuring the entry of sound waves into the body of the patient and providing ultrasound images of high quality. In this paper, we present an approach to automatically supply ultrasound gel during robot guided ultrasound ex...
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| Format: | Article |
| Language: | English |
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De Gruyter
2024-09-01
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| Series: | Current Directions in Biomedical Engineering |
| Subjects: | |
| Online Access: | https://doi.org/10.1515/cdbme-2024-1063 |
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| _version_ | 1832570486486204416 |
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| author | Osburg Jonas Ernst Floris |
| author_facet | Osburg Jonas Ernst Floris |
| author_sort | Osburg Jonas |
| collection | DOAJ |
| description | Ultrasound gel is used as a coupling medium in ultrasound procedures, thereby ensuring the entry of sound waves into the body of the patient and providing ultrasound images of high quality. In this paper, we present an approach to automatically supply ultrasound gel during robot guided ultrasound examinations. For this purpose, we combine a simple mechanical design consisting of a gel tube and a push mechanism with a specialized control strategy exploiting the robotic nullspace of 7 DoF redundant manipulator. Functionality is demonstrated by robotic ultrasound scans on phantoms, with gel being automatically applied when needed. |
| format | Article |
| id | doaj-art-385c1383d4834f29935ea384cc1a01a6 |
| institution | Kabale University |
| issn | 2364-5504 |
| language | English |
| publishDate | 2024-09-01 |
| publisher | De Gruyter |
| record_format | Article |
| series | Current Directions in Biomedical Engineering |
| spelling | doaj-art-385c1383d4834f29935ea384cc1a01a62025-02-02T15:45:00ZengDe GruyterCurrent Directions in Biomedical Engineering2364-55042024-09-01102454810.1515/cdbme-2024-1063Nullspace Control for Automatic Ultrasound Gel SupplyOsburg Jonas0Ernst Floris1Institute for Robotics and Cognitive Systems, Ratzeburger Allee 160,Lübeck, GermanyInstitute for Robotics and Cognitive Systems, Ratzeburger Allee 160,Lübeck, GermanyUltrasound gel is used as a coupling medium in ultrasound procedures, thereby ensuring the entry of sound waves into the body of the patient and providing ultrasound images of high quality. In this paper, we present an approach to automatically supply ultrasound gel during robot guided ultrasound examinations. For this purpose, we combine a simple mechanical design consisting of a gel tube and a push mechanism with a specialized control strategy exploiting the robotic nullspace of 7 DoF redundant manipulator. Functionality is demonstrated by robotic ultrasound scans on phantoms, with gel being automatically applied when needed.https://doi.org/10.1515/cdbme-2024-1063robot guided ultrasoundnullspace controlautomatic ultrasound gel supply |
| spellingShingle | Osburg Jonas Ernst Floris Nullspace Control for Automatic Ultrasound Gel Supply Current Directions in Biomedical Engineering robot guided ultrasound nullspace control automatic ultrasound gel supply |
| title | Nullspace Control for Automatic Ultrasound Gel Supply |
| title_full | Nullspace Control for Automatic Ultrasound Gel Supply |
| title_fullStr | Nullspace Control for Automatic Ultrasound Gel Supply |
| title_full_unstemmed | Nullspace Control for Automatic Ultrasound Gel Supply |
| title_short | Nullspace Control for Automatic Ultrasound Gel Supply |
| title_sort | nullspace control for automatic ultrasound gel supply |
| topic | robot guided ultrasound nullspace control automatic ultrasound gel supply |
| url | https://doi.org/10.1515/cdbme-2024-1063 |
| work_keys_str_mv | AT osburgjonas nullspacecontrolforautomaticultrasoundgelsupply AT ernstfloris nullspacecontrolforautomaticultrasoundgelsupply |