Articles | Volume 13, issue 1
Mech. Sci., 13, 559–575, 2022
https://doi.org/10.5194/ms-13-559-2022
Mech. Sci., 13, 559–575, 2022
https://doi.org/10.5194/ms-13-559-2022
Research article
20 Jun 2022
Research article | 20 Jun 2022

Varying rate adaptive hybrid position–impedance control for robot-assisted ultrasonic examination system

Zhanxin Xie and Zheng Yan

Related subject area

Subject: Mechanisms and Robotics | Techniques and Approaches: Mathematical Modeling and Analysis
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Cited articles

Abbas, M., Al Issa, S., and Dwivedy, S. K.: Event-triggered adaptive hybrid position-force control for robot-assisted ultrasonic examination system, J. Intell. Robot. Syst., 102, 1–19, 2021. 
Cao, H., He, Y., Chen, X., and Zhao, X.: Smooth adaptive hybrid impedance control for robotic contact force tracking in dynamic environments, Industrial Robot, 47, 231–242, https://doi.org/10.1108/IR-09-2019-0191, 2020. 
Chatelain, P., Krupa, A., and Navab, N.: Confidence-driven control of an ultrasound probe: Target-specific acoustic window optimization, 2016 IEEE International Conference on Robotics and Automation (ICRA), IEEE, Stockholm, Sweden, 3441–3446, https://doi.org/10.1109/ICRA.2016.7487522, 2016. 
Chaudhary, H., Panwar, V., Prasad, R., and Sukavanam, N.: Adaptive neuro fuzzy based hybrid force/position control for an industrial robot manipulator, J. Intell. Manuf., 27, 1299–1308, 2016. 
Fang, T.-Y., Zhang, H. K., Finocchi, R., Taylor, R. H., and Boctor, E. M.: Force-assisted ultrasound imaging system through dual force sensing and admittance robot control, Int. J. Comput. Ass. Rad., 12, 983–991, 2017. 
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Short summary
Robotic ultrasonic scanning needs to apply an appropriate force for a long time during the acquisition process. Excessive contact force may lead to deformation and even hurt the patient, while insufficient force would lead to poor image quality. We proposed a varying rate hybrid position–impedance control strategy, which can partly play the role of an ultrasound sonographer and serve as a medical assistant to reduce their workload.