Adaptive image servo controller for robot-assisted diagnostic ultrasound

Author

Abolmaesumi, P. ; Sirouspour, M.R. ; Salcudean, S.E. ; Zhu, W.H.

Author_Institution

Dept. of Electr. & Comput. Eng., British Columbia Univ., Vancouver, BC, Canada

Volume

2

fYear

2001

fDate

2001

Firstpage

1199

Abstract

A robot-assisted system for medical diagnostic ultrasound has been developed by the authors. An ultrasound image servo controller has already been proposed and implemented by Abolmaesumi et al. (2000) to automatically compensate, through robot motions, unwanted motions in the plane of the ultrasound beam. This paper presents an adaptive image servo controller to enhance the performance of the ultrasound image servo controller. To increase safety, the control is shared between the operator and the image controller. The stability and accuracy of the system is illustrated through different experiments

Keywords

adaptive control; biomedical ultrasonics; medical robotics; patient diagnosis; servomechanisms; stability; telerobotics; ultrasonic imaging; US image servo controller; adaptive control; medical diagnostic ultrasound; medical robotics; robot-assisted system; stability; teleoperation; Adaptive control; Automatic control; Medical control systems; Medical diagnosis; Medical robotics; Programmable control; Robot control; Robotics and automation; Servomechanisms; Ultrasonic imaging;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Intelligent Mechatronics, 2001. Proceedings. 2001 IEEE/ASME International Conference on

Conference_Location

Como

Print_ISBN

0-7803-6736-7

Type

conf

DOI

10.1109/AIM.2001.936881

Filename

936881