Development of master-slave robotic system for teleoperated ultrasonography

摘要

This paper considers to develop a prototype master-slave robotic system for teleoperated ultrasonography. Six DOF motions for ultrasonography are provided through Stewart-Gough mechanisms for both master/slave devices. As a slave robot, a ultrasound probe is installed inside of the platform and contacts with patients skin through the hole in the base frame to minimize the size of the robot. The master device is based on real-time controlled linear actuators to enable haptic feedback. A prototype master/slave system is developed and a simple teleoperation experiment is demonstrated with the proposed system.