A Pneumatic Haptic Probe Replica for Tele-Robotized Ultrasonography

Ibrahim Abdallah 1 Fabrice Gatwaza 2 Nicolas Morette 3 Arnaud Lelevé 2 Cyril Novales 4 Laurence Nouaille 4 Xavier Brun 2 Pierre Vieyres 4
1 MOCIS - Méthodes et Outils pour la Conception Intégrée de Systèmes
CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
2 MIS - Ampère, Département Méthodes pour l'Ingénierie des Systèmes
3 PRISME - Laboratoire Pluridisciplinaire de Recherche en Ingénierie des Systèmes, Mécanique et Energétique
4 IRAUS
PRISME - Laboratoire Pluridisciplinaire de Recherche en Ingénierie des Systèmes, Mécanique et Energétique
Abstract : This paper introduces a pneumatic haptic device to remotely control a slave ultrasound probe-holder robot. This device should orientate this probe according to the sonographer’s examination needs, while rendering the force applied by it on the patient’s body, in order to provide a realistic examination environment as in situ. Previous designs with electric actuators were limited in terms of torque, dimensions and ergonomics, which actually did not match end-users’ remote ultrasonography requirements. This paper describes the mechatronic design of an haptic pneumatic probe replica and preliminary control laws for it to perform as a Variable Stiffness Actuator (VSA). This approach is original and experimental results are provided to validate its feasibility.
Keywords : Medical Robotics Remote ultrasonography Teleoperation Variable Stiffness Actuator Pneumatics Haptics
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Conference papers
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Ibrahim Abdallah, Fabrice Gatwaza, Nicolas Morette, Arnaud Lelevé, Cyril Novales, et al.. A Pneumatic Haptic Probe Replica for Tele-Robotized Ultrasonography. First International Conference on Smart Multimedia, Aug 2018, Toulon, France. pp.79-89, ⟨10.1007/978-3-030-04375-9_7⟩. ⟨hal-01862903⟩

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