کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
802178 904359 2011 18 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
A robotic wrist for remote ultrasound imaging
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مهندسی صنعتی و تولید
پیش نمایش صفحه اول مقاله
A robotic wrist for remote ultrasound imaging
چکیده انگلیسی

A robotic wrist has been developed for physicians to perform ultrasound imaging on patients located at remote sites. Detailed design, kinematic analysis, prototyping, and preliminary clinical tests of the wrist are reported in this paper. The wrist has certain characteristics which make it novel from mechanical point of view and with respect to its suitability for ultrasound imaging. It is a four degree-of-freedom device and uses parallel mechanisms in its configuration to provide a remote center-of-motion. All four actuators are located on the ground, and each actuator is responsible for one required motion of the ultrasound probe. The wrist has been prototyped. Successful remote ultrasound imaging of kidney and liver has been done on a few volunteers to show the applicability of the proposed device.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Mechanism and Machine Theory - Volume 46, Issue 8, August 2011, Pages 1153–1170
نویسندگان
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