DocumentCode
3205375
Title
Underactuated comanipulation for ultrasound breast exams
Author
Marx, Anja ; Vitrani, Marie-Aude ; Muller, Sebastian ; Morel, Guillaume
Author_Institution
GE Heathcare, Buc, France
fYear
2013
fDate
3-7 July 2013
Firstpage
4871
Lastpage
4874
Abstract
We investigate the possibility of providing adequate task assistance using under-actuated robots for human-robot tool co-manipulation. This novel approach optimizes robot-user synergy without taking into account any a priori knowledge of parameters depending on the user. Six different actuation modes were compared for a localization and scanning task. The best performance gain was achieved for 1 degree of under-actuation.
Keywords
actuators; biomedical ultrasonics; manipulators; medical robotics; a priori parameter knowledge; actuation mode; human-robot tool co-manipulation; localization task; robot-user synergy; scanning task; task assistance; ultrasound breast exam; under-actuated robot; Breast; Image coding; Lesions; Probes; Robot kinematics; Surgery;
fLanguage
English
Publisher
ieee
Conference_Titel
Engineering in Medicine and Biology Society (EMBC), 2013 35th Annual International Conference of the IEEE
Conference_Location
Osaka
ISSN
1557-170X
Type
conf
DOI
10.1109/EMBC.2013.6610639
Filename
6610639
Link To Document