Contact Control of Ultrasonic Scanning Robot

The application of ultrasonic scanning robots can effectively relieve the working intensity of surgeons, and improve the working efficiency and accuracy. However, the inherence deformation properties of the soft tissue bring major challenges to automatic scanning operations. In this study, we proposed a novel control structure for ultrasonic scanning robot, in which the contact control between the robot and human body is decoupled in the tangential and normal direction of the contact surface. The uncertain displacement of the contact position during the scanning is controlled by designing the tangential and normal controller, which implements the displacement control in tangential direction, and fuzzy adaptive impedance control in normal direction. Experiments are conducted and the result of the experiments demonstrated that this control system can achieve tangential position tracking and obtain clear ultrasonic images under the condition of normal contact force protection.

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