Computed torque posture control for robotic-assisted tele-echography

The paper presents a robotic tele-manipulation setup for remote ultrasound echography. The master station sends position and orientation commands through the Internet to the remote robot to control the probe. Geometric, kinematic and dynamic models are used to control the robot through computed torque techniques, including gravity compensation. Proportional and derivative control in 6-DOF task space is described, focusing the orientation error computation through angle axis representations. Mapping between master commands and control reference is analyzed, taking into account arbitrary initial robot postures. A user interface for echographic image reception with keyboard/mouse or haptic input control is described. Experiments with a 7-DOF WAM™ robot and a haptic device, featuring force feedback are presented.

[1]  Richard M. Murray,et al.  A Mathematical Introduction to Robotic Manipulation , 1994 .

[2]  Mamoru Mitsuishi,et al.  Impedance controller and its clinical use of the remote ultrasound diagnostic system , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[3]  Jerome P. Lynch,et al.  A wireless structural health monitoring system with multithreaded sensing devices: design and validation , 2007 .

[4]  Mamoru Mitsuishi,et al.  Construction Methodology for a Remote Ultrasound Diagnostic System , 2009, IEEE Transactions on Robotics.

[5]  Oussama Khatib,et al.  A unified approach for motion and force control of robot manipulators: The operational space formulation , 1987, IEEE J. Robotics Autom..

[6]  Eizen Kimura,et al.  Three dimensional motion mechanism of ultrasound probe and its application for tele-echography system , 2001, Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180).

[7]  Michael G. Strintzis,et al.  Mobile tele-echography: user interface design , 2005, IEEE Transactions on Information Technology in Biomedicine.

[8]  Christophe Rosenberger,et al.  A tele-operated mobile ultrasound scanner using a light-weight robot , 2005, IEEE Transactions on Information Technology in Biomedicine.

[9]  George Kontaxakis,et al.  EU-TeleInViVo: an integrated portable telemedicine workstation featuring acquisition, processing and transmission over low-bandwidth lines of 3D ultrasound volume images , 2000, Proceedings 2000 IEEE EMBS International Conference on Information Technology Applications in Biomedicine. ITAB-ITIS 2000. Joint Meeting Third IEEE EMBS International Conference on Information Technol.

[10]  Russell H. Taylor,et al.  A Perspective on Medical Robotics , 2006, Proceedings of the IEEE.

[11]  Wen-Hong Zhu,et al.  A user interface for robot-assisted diagnostic ultrasound , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[12]  R.J. Littlefield,et al.  MUSTPAC/sup TM/ 3-D ultrasound telemedicine/telepresence system , 1998, 1998 IEEE Ultrasonics Symposium. Proceedings (Cat. No. 98CH36102).

[13]  C. Nichita,et al.  Large band simulation of the wind speed for real time wind turbine simulators , 2002 .

[14]  Philippe Cinquin,et al.  A new robot architecture for tele-echography , 2003, IEEE Trans. Robotics Autom..

[15]  Wen-Hong Zhu,et al.  Image-guided control of a robot for medical ultrasound , 2002, IEEE Trans. Robotics Autom..

[16]  J. Ayoub,et al.  Realtime tele-operated abdominal and fetal echography in 4 medical centres, from one expert center, using a robotic arm & ISDN or satellite link , 2008, 2008 IEEE International Conference on Automation, Quality and Testing, Robotics.

[17]  Ionel Vechiu,et al.  Comparison of wind turbine LQG controllers designed to alleviate fatigue loads , 2010, IEEE ICCA 2010.