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Design and experimental study of a novel 7-DOF manipulator for transrectal ultrasound probe
Traditional hand-held ultrasound probe has some limitations in prostate biopsy. Improving the localization and accuracy of ultrasound probe will increase the detection rate of prostate cancer while biopsy techniques remain unchanged. This paper designs a manipulator for transrectal ultrasound probe,...
Autores principales: | , , , , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
SAGE Publications
2020
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10358554/ https://www.ncbi.nlm.nih.gov/pubmed/33225864 http://dx.doi.org/10.1177/0036850420970366 |
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author | Zhang, Yongde Liang, Dexian Sun, Liyi Guo, Xiaowei Jiang, Jingang Zuo, Sihao Zhang, Yanhua |
author_facet | Zhang, Yongde Liang, Dexian Sun, Liyi Guo, Xiaowei Jiang, Jingang Zuo, Sihao Zhang, Yanhua |
author_sort | Zhang, Yongde |
collection | PubMed |
description | Traditional hand-held ultrasound probe has some limitations in prostate biopsy. Improving the localization and accuracy of ultrasound probe will increase the detection rate of prostate cancer while biopsy techniques remain unchanged. This paper designs a manipulator for transrectal ultrasound probe, which assists doctors in performing prostate biopsy and improves the efficiency and accuracy of biopsy procedure. The ultrasound probe manipulator includes a position adjustment module that can lock four joints at the same time. It reduces operating time and improves the stability of the mechanism. We use the attitude adjustment module designed by double parallelogram RCM mechanism, the ultrasound probe can realize centering and prevent its radial motion. The self-weight balance design helps doctors operate ultrasound probe without weight. Using MATLAB to analyze the manipulator, the results show that the workspace of the mechanism can meet the biopsy requirements. And simulate the centering effect of the ultrasound probe when the attitude is adjusted at different feeding distances, the results show that the ultrasound probe is centering stability. Finally, the centering and joint interlocking tests of the physical prototype are completed. In this paper, a 7-DOF manipulator for transrectal ultrasound probe is designed. The mechanism is analyzed for kinematics, workspace analysis, simulation of centering effects, development of a physical prototype and related experimental research. The results show that the surgical demand workspace is located inside the reachable workspace of the mechanism and the joint locking of the manipulator is reliable. |
format | Online Article Text |
id | pubmed-10358554 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2020 |
publisher | SAGE Publications |
record_format | MEDLINE/PubMed |
spelling | pubmed-103585542023-08-09 Design and experimental study of a novel 7-DOF manipulator for transrectal ultrasound probe Zhang, Yongde Liang, Dexian Sun, Liyi Guo, Xiaowei Jiang, Jingang Zuo, Sihao Zhang, Yanhua Sci Prog Article Traditional hand-held ultrasound probe has some limitations in prostate biopsy. Improving the localization and accuracy of ultrasound probe will increase the detection rate of prostate cancer while biopsy techniques remain unchanged. This paper designs a manipulator for transrectal ultrasound probe, which assists doctors in performing prostate biopsy and improves the efficiency and accuracy of biopsy procedure. The ultrasound probe manipulator includes a position adjustment module that can lock four joints at the same time. It reduces operating time and improves the stability of the mechanism. We use the attitude adjustment module designed by double parallelogram RCM mechanism, the ultrasound probe can realize centering and prevent its radial motion. The self-weight balance design helps doctors operate ultrasound probe without weight. Using MATLAB to analyze the manipulator, the results show that the workspace of the mechanism can meet the biopsy requirements. And simulate the centering effect of the ultrasound probe when the attitude is adjusted at different feeding distances, the results show that the ultrasound probe is centering stability. Finally, the centering and joint interlocking tests of the physical prototype are completed. In this paper, a 7-DOF manipulator for transrectal ultrasound probe is designed. The mechanism is analyzed for kinematics, workspace analysis, simulation of centering effects, development of a physical prototype and related experimental research. The results show that the surgical demand workspace is located inside the reachable workspace of the mechanism and the joint locking of the manipulator is reliable. SAGE Publications 2020-11-22 /pmc/articles/PMC10358554/ /pubmed/33225864 http://dx.doi.org/10.1177/0036850420970366 Text en © The Author(s) 2020 https://creativecommons.org/licenses/by-nc/4.0/This article is distributed under the terms of the Creative Commons Attribution-NonCommercial 4.0 License (https://creativecommons.org/licenses/by-nc/4.0/) which permits non-commercial use, reproduction and distribution of the work without further permission provided the original work is attributed as specified on the SAGE and Open Access pages (https://us.sagepub.com/en-us/nam/open-access-at-sage). |
spellingShingle | Article Zhang, Yongde Liang, Dexian Sun, Liyi Guo, Xiaowei Jiang, Jingang Zuo, Sihao Zhang, Yanhua Design and experimental study of a novel 7-DOF manipulator for transrectal ultrasound probe |
title | Design and experimental study of a novel 7-DOF manipulator for transrectal ultrasound probe |
title_full | Design and experimental study of a novel 7-DOF manipulator for transrectal ultrasound probe |
title_fullStr | Design and experimental study of a novel 7-DOF manipulator for transrectal ultrasound probe |
title_full_unstemmed | Design and experimental study of a novel 7-DOF manipulator for transrectal ultrasound probe |
title_short | Design and experimental study of a novel 7-DOF manipulator for transrectal ultrasound probe |
title_sort | design and experimental study of a novel 7-dof manipulator for transrectal ultrasound probe |
topic | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10358554/ https://www.ncbi.nlm.nih.gov/pubmed/33225864 http://dx.doi.org/10.1177/0036850420970366 |
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