A Modular Robotic System for Ultrasound Image Acquisition

This paper reports a modular robotic system currently in development for performing intra-operative 3-D ultrasound scans. The final goal is to be able to utilize ultrasound as a guidance and imaging modality for a variety of computer integrated surgery applications by overcoming the limits it's handheld nature presents. The primary component of the system is a compact 3 DOF robot called the Translational Remote Center of Motion Robot (TRCM). This unit, which can be used standalone or as a dexterity end effector for a larger degree of freedom base robot, can perform the motions necessary to locate and perform force controlled scans of target anatomy quickly and safely. This relatively inexpensive unit, while designed with the ultrasound application in mind, also becomes a useful general purpose robot for any application in which an RCM mechanism is desired.