Design and Implementation of a prototype robotic system for medical ultrasound diagnosis

摘要

the interest in robots and their applications has increased recently, and one of the most important applications is using robots in medical applications. This paper shows a prototype robotic system for robot - aided radiologists in their work, especially radiologists whom using ultrasound devices. The system includes master device, slave robot and a computer control system that lets the operator remotely position the ultrasound probe on the patient, Master device is available with the operator; Slave robot is located in the patient's location with an ultrasound machine.The proposed system composed of a new design of master device and slave robot; both designs were designed based on the shape, size and movements that radiologists used to do during an ultrasound examination, the master device is used to control the movement of ultrasound probe, the ultrasound probe is fixed inside the slave robot and its contacted to the patient body through a hole in the base at end of design. Movement accuracy between master device and slave robot was achieved. Ultrasound examination was tested by homemade gelatin model.