A Constant-Force End-Effector With Online Force Adjustment for Robotic Ultrasonography

In this letter, we propose a novel constant-force end-effector (CFEE) to address current limitations in robotic ultrasonography. The CFEE uses parallel, motor-spring-based solution precisely generate constant operating forces over wide range and enable the ultrasound (US) probe adapt abdominal contours autonomously. A displacement measurement unit was developed realize acquisition of position precise control force. Moreover, force can be adjusted online maintain safety continuity operation. Simulations experiments were carried out evaluate performance. Results show that proposed provide 4-12 N with displacements 0-8 mm. maximum relative error generation is 8.28%, accuracy precision for are 0.29 mm ±0.16 mm, respectively. Various during same Ultrasound images acquired by equally good quality compared manual sonographer scan. would have potential further medical applications.