Force and Position Control System for Freehand Ultrasound

@article{Gilbertson2015ForceAP,
  title={Force and Position Control System for Freehand Ultrasound},
  author={Matthew W. Gilbertson and Brian W. Anthony},
  journal={IEEE Transactions on Robotics},
  year={2015},
  volume={31},
  pages={835-849}
}
A hand-held force-controlled ultrasound probe has been developed for medical imaging applications. The probe-patient contact force can be held constant to improve image stability, swept through a range, or cycled. The mechanical portion of the device consists of a ball screw linear actuator driven by a servo motor, along with a load cell, accelerometer, and limit switches. The performance of the system was assessed in terms of the frequency response to simulated sonographer hand motion and in… CONTINUE READING

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