Study and Analysis of a Remote Robot-assisted Ultrasound Imaging System

摘要

Ultrasound(US) imaging is widely employed in diagnosing diseases because of its low cost, high efficiency and less harmfulness to patients. However, experienced doctors are required to operate the system and interpret ultrasound image. In this paper, a robot assisted ultrasound imaging system is developed for remote ultrasonic diagnosis, in which a master-slave mapping relationship is established based on velocity control of incremental position and orientation. Butterworth lowpass filtering is applied to suppress the jitter signal at the master side and improve the smoothness at the slave side. Finally, an ultrasound imaging experiment is carried out and the effectiveness and feasibility of remote robot-assisted ultrasound imaging system are verified.