This work was supported by the Wellcome Trust IEH Award [102431] and by the Wellcome/EPSRC Centre for Medical Engineering [WT203148/Z/16/Z]. The authors acknowledge financial support from the Department of Health via the National Institute for Health Research (NIHR) comprehensive Biomedical Research Centre award to Guy&#39;s &#38; St Thomas&#39; NHS Foundation Trust in partnership with King&#39;s College London and King&#39;s College Hospital NHS Foundation Trust.

1. Preparation of Each Link, End-effector, and Additional Components
<ol>
	<li>Print all the links (L0, L1, L2, L3, and L4) and the end-effector as shown in Figure 1, with acrylonitrile butadiene styrene (ABS) plastic, polylactic acid (PLA) plastic, or nylon, using a 3D-printing service. Use the .STL files provided in the Supplementary Materials when printing. 
	NOTE: Changes in shape and scale of each part can be...

<ol>
	<li>Priester, A. M., Natarajan, S., Culjat, M. O. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Robotic+ultrasound+systems+in+medicine.">Robotic ultrasound systems in medicine.</a> IEEE Transactions on Ultrasonics, Ferroelectrics, and Frequency Control. 60 (3), 507-523 (2013).</li><li>Magnavita, N., Bevilacqua, L., Mirk, P., Fileni, A., Castellino, N. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Work-related+musculoskeletal+complaints+in+sonologists.">Work-related musculoskeletal complaints in sonologists.</a> Journal of Occupational and Environmental Medicine. 41 (11), 981-988 (1999).</li><li>Jakes, C. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Sonographers+and+Occupational+Overuse+Syndrome:+Cause,+Effect,+and+Solutions.">Sonographers and Occupational Overuse Syndrome: Cause, Effect, and Solutions.</a> Journal of Diagnostic Medical Sonography. 17 (6), 312-320 (2001).</li><li>Society of Diagnostic Medical Sonography. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Industry+Standards+for+the+Prevention+of+Work-Related+Musculoskeletal+Disorders+in+Sonography:+Consensus+Conference+on+Work-Related+Musculoskeletal+Disorders+in+Sonography.">Industry Standards for the Prevention of Work-Related Musculoskeletal Disorders in Sonography: Consensus Conference on Work-Related Musculoskeletal Disorders in Sonography.</a> Journal of Diagnostic Medical Sonography. 27 (1), 14-18 (2011).</li><li>LaGrone, L. N., Sadasivam, V., Kushner, A. L., Groen, R. S. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=A+review+of+training+opportunities+for+ultrasonography+in+low+and+middle+income+countries.">A review of training opportunities for ultrasonography in low and middle income countries.</a> Tropical Medicine &amp; International Health. 17 (7), 808-819 (2012).</li><li>Shah, S., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Perceived+barriers+in+the+use+of+ultrasound+in+developing+countries.">Perceived barriers in the use of ultrasound in developing countries.</a> Critical Ultrasound Journal. 7 (1), 28 (2015).</li><li>Swerdlow, D. R., Cleary, K., Wilson, E., Azizi-Koutenaei, B., Monfaredi, R. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Robotic+Arm&#8211;Assisted+Sonography:+Review+of+Technical+Developments+and+Potential+Clinical+Applications.">Robotic Arm&#8211;Assisted Sonography: Review of Technical Developments and Potential Clinical Applications.</a> American Journal of Roentgenology. 208 (4), 733-738 (2017).</li><li>Nouaille, L., Laribi, M., Nelson, C., Zeghloul, S., Poisson, G. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Review+of+Kinematics+for+Minimally+Invasive+Surgery+and+Tele-Echography+Robots.">Review of Kinematics for Minimally Invasive Surgery and Tele-Echography Robots.</a> Journal of Medical Devices. 11 (4), 040802 (2017).</li><li>Georgescu, M., Sacccomandi, A., Baudron, B., Arbeille, P. L. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Remote+sonography+in+routine+clinical+practice+between+two+isolated+medical+centers+and+the+university+hospital+using+a+robotic+arm:+a+1-year+study.">Remote sonography in routine clinical practice between two isolated medical centers and the university hospital using a robotic arm: a 1-year study.</a> Telemedicine and e-Health. 22 (4), 276-281 (2016).</li><li>Arbeille, P., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Use+of+a+robotic+arm+to+perform+remote+abdominal+telesonography.">Use of a robotic arm to perform remote abdominal telesonography.</a> American Journal of Roentgenology. 188 (4), W317-W322 (2007).</li><li>Arbeille, P., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Fetal+tele&#8208;echography+using+a+robotic+arm+and+a+satellite+link.">Fetal tele&#8208;echography using a robotic arm and a satellite link.</a> Ultrasound in Obstetrics &amp; Gynecology. 26 (3), 221-226 (2005).</li><li>Vieyres, P., Istepanian, R. H., Laxminarayan, S., Pattichis, C. S., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=A+tele-operated+robotic+system+for+mobile+tele-echography:+The+OTELO+project.">A tele-operated robotic system for mobile tele-echography: The OTELO project.</a> M-Health: Emerging Mobile Health Systems. , 461-473 (2006).</li><li>Abolmaesumi, P., Salcudean, S. E., Zhu, W. H., Sirouspour, M. R., DiMaio, S. P. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Image-guided+control+of+a+robot+for+medical+ultrasound.">Image-guided control of a robot for medical ultrasound.</a> IEEE Transactions on Robotics and Automation. 18 (1), 11-23 (2002).</li><li>Abolmaesumi, P., Salcudean, S., Zhu, W. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Visual+servoing+for+robot-assisted+diagnostic+ultrasound.">Visual servoing for robot-assisted diagnostic ultrasound.</a> Engineering in Medicine and Biology Society, Proceedings of the 22nd Annual International Conference of the IEEE. , (2000).</li><li>Menikou, G., Yiallouras, C., Yiannakou, M., Damianou, C. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=MRI&#8208;guided+focused+ultrasound+robotic+system+for+the+treatment+of+bone+cancer.">MRI&#8208;guided focused ultrasound robotic system for the treatment of bone cancer.</a> The International Journal of Medical Robotics and Computer Assisted Surgery. 13 (1), e1753 (2017).</li><li>Yiallouras, C., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Three-axis+MR-conditional+robot+for+high-intensity+focused+ultrasound+for+treating+prostate+diseases+transrectally.">Three-axis MR-conditional robot for high-intensity focused ultrasound for treating prostate diseases transrectally.</a> Journal of Therapeutic Ultrasound. 3 (1), 2 (2015).</li><li>Essomba, T., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=A+specific+performances+comparative+study+of+two+spherical+robots+for+tele-echography+application.">A specific performances comparative study of two spherical robots for tele-echography application.</a> Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science. 228 (18), 3419-3429 (2014).</li><li>Bassit, L. A. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=.">.</a> Structure m&#233;canique &#224; modules sph&#233;riques optimis&#233;es pour un robot m&#233;dical de t&#233;l&#233;-&#233;chographie mobile. , (2005).</li><li>Noh, Y., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Multi-Axis+force/torque+sensor+based+on+Simply-Supported+beam+and+optoelectronics.">Multi-Axis force/torque sensor based on Simply-Supported beam and optoelectronics.</a> Sensors. 16 (11), 1936 (1936).</li><li>Noh, Y., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=An+ergonomic+handheld+ultrasound+probe+providing+contact+forces+and+pose+information.">An ergonomic handheld ultrasound probe providing contact forces and pose information.</a> Engineering in Medicine and Biology Society, Proceedings of the 37th Annual International Conference of the IEEE. , (2015).</li><li>. Translational Detent &#8211; MapleSim Help Available from: <a target="_blank" href="https://www.maplesoft.com/support/help/MapleSim/view.aspx?path=DrivelineComponentLibrary/translationalDetent">https://www.maplesoft.com/support/help/MapleSim/view.aspx?path=DrivelineComponentLibrary/translationalDetent</a> (2018)</li></ol>

The authors have nothing to disclose.

Unlike many other industrial robots that have been translated into medical applications, the proposed robotic manipulator described in the protocol was specifically designed for US examinations according to clinical requirements for the range of motion, application of force, and safety management. The lightweight robotic manipulator itself has a wide range of movements sufficient for most extra-corporeal US scanning, without the need for large movements of the global positioning mechanism. As the closest mechanical struc...

An extra-corporeal robotic ultrasound (US) system refers to the configuration in which a robotic system is utilized to hold and manipulate a US probe for external examinations, including its use in cardiac, vascular, obstetric, and general abdominal imaging1. The use of such a robotic system is motivated by the challenges of manually holding and manipulating a US probe, for instance, the challenge of finding standard US views required by clinical imaging protocols and the risk of repetitive strain injury2,3,4, and also by the needs of US screening programs, for instance,&#160;the requirement for experienced sonographers to be on-site5,6. With emphases on different functionalities and target anatomies, several robotic US systems, as reviewed in earlier works1,7,8, have been introduced since the 1990s, to improve different aspects of US examination (e.g.,&#160;long-distance teleoperation9,10,11,12, as well as robot-operator interaction and automatic control)13,14. In addition to the robotic US systems used for diagnostic purposes, robotic high-intensity focused ultrasound (HIFU) systems for treatment purposes have been widely investigated as summarized by Priester et al.1, with some recent works15,16 reporting the latest progress.
Although several robotic US systems have been developed with relatively reliable technologies for control and clinical operation, only a few of them have been successfully translated into clinical use, such as a commercially available tele-ultrasound system17. One possible reason is the low level of acceptance for large-size industrial-looking robots working in a clinical environment, from the point of view of both patients and sonographers. Additionally, for safety management, the majority of the existing US robots rely on force sensors to monitor and control the applied pressure to the US probe, while more fundamental mechanical safety mechanisms to limit the force passively are usually not available. This may also cause concerns when translating into clinical use as the safety of robot operation would be purely dependent on electrical systems and software logic.
With the recent advancements of 3D printing techniques, specially shaped plastic links with custom-made joint mechanisms could provide a new opportunity for developing bespoke medical robots. Carefully designed lightweight components with a compact appearance could improve clinical acceptance. Specifically for US examination, a bespoke medical robot aimed at being translated into clinical use should be compact, with enough degrees of freedom (DOFs) and range of motion to cover the region of interest of a scan; for example, the abdominal surface, including both the top and sides of the belly. Additionally, the robot should also incorporate the ability to perform fine adjustments of the US probe in a local area, when trying to optimize a US view. This usually includes tilting movements of the probe within a certain range, as suggested by Essomba et al.18 and Bassit19. To further address the safety concerns, it is expected that the system should have passive mechanical safety features which are independent of electrical systems and software logic.
In this paper, we present the detailed design and assembly method of a 5-DOF dexterous robotic manipulator, which is used as the key component of an extra-corporeal robotic US system. The manipulator consists of several lightweight 3D-printable links, custom-made joint mechanisms, and a built-in safety clutch. The specific arrangement of the DOFs provides full flexibility for probe adjustments, allowing easy and safe operations in a small area without colliding with the patient. The proposed multi-DOF manipulator aims to work as the main component that is in contact with patients and it can be simply attached to any conventional 3-DOF global positioning mechanism to form a complete US robot with fully active DOFs to perform a US scan.

<table>
	<tbody>
		<tr>
			<td>3D-printed link L0</td>
			<td>3D printing service</td>
			<td>1</td>
			<td>As shown in Figure 1, with the STL file provided</td>
		</tr>
		<tr>
			<td>3D-printed link L1</td>
			<td>3D printing service</td>
			<td>1</td>
			<td>As shown in Figure 1, with the STL file provided</td>
		</tr>
		<tr>
			<td>3D-printed link L2</td>
			<td>3D printing service</td>
			<td>1</td>
			<td>As shown in Figure 1, with the STL file provided</td>
		</tr>
		<tr>
			<td>3D-printed link L3</td>
			<td>3D printing service</td>
			<td>1</td>
			<td>As shown in Figure 1, with the STL file provided</td>
		</tr>
		<tr>
			<td>3D-printed link L4</td>
			<td>3D printing service</td>
			<td>1</td>
			<td>As shown in Figure 1, with the STL file provided</td>
		</tr>
		<tr>
			<td>3D-printed end-effector</td>
			<td>3D printing service</td>
			<td>1</td>
			<td>As shown in Figure 1, with the STL file provided</td>
		</tr>
		<tr>
			<td>20-teeth spur gear</td>
			<td>3D printing service</td>
			<td>12</td>
			<td>0.5 module, 5 mm face width, with mounting keyway, as shown in Figure 2, with the STL file provided</td>
		</tr>
		<tr>
			<td>18-teeth bevel gear</td>
			<td>3D printing service</td>
			<td>2</td>
			<td>0.5 module, 5 mm face width, with mounting keyway, as shown in Figure 2, with the STL file provided</td>
		</tr>
		<tr>
			<td>120-teeth spur gear (Type A)</td>
			<td>3D printing service</td>
			<td>1</td>
			<td>0.5 module, 6 mm face width, with mounting keyway, bearing housing, and bore, as shown in Figure 2, with the STL file provided</td>
		</tr>
		<tr>
			<td>120-teeth spur gear (Type B)</td>
			<td>3D printing service</td>
			<td>2</td>
			<td>0.5 module, 6 mm face width, with detent holes, bearing housing, and bore, as shown in Figure 2, with the STL file provided</td>
		</tr>
		<tr>
			<td>120-teeth spur gear (Type C)</td>
			<td>3D printing service</td>
			<td>1</td>
			<td>0.5 module, 6 mm face width, with mounting key, bearing housing, and bore, as shown in Figure 2, with the STL file provided</td>
		</tr>
		<tr>
			<td>20-teeth long spur gear</td>
			<td>3D printing service</td>
			<td>1</td>
			<td>0.5 module, 21.5 mm face width, with mounting keyways, as shown in Figure 2, with the STL file provided</td>
		</tr>
		<tr>
			<td>144-teeth bevel gear</td>
			<td>3D printing service</td>
			<td>1</td>
			<td>0.5 module, 7 mm face width, with mounting keyways, as shown in Figure 2, with the STL file provided</td>
		</tr>
		<tr>
			<td>Bearing (37 mm O.D and 30 mm I.D)</td>
			<td>Bearing Station Ltd., UK</td>
			<td>5</td>
			<td>Bearing size and supplier can be varied</td>
		</tr>
		<tr>
			<td>Bearing (12 mm O.D and 6 mm I.D)</td>
			<td>Bearing Station Ltd., UK</td>
			<td>2</td>
			<td>Bearing size and supplier can be varied</td>
		</tr>
		<tr>
			<td>Bearing (32 mm O.D and 25 mm I.D)</td>
			<td>Bearing Station Ltd., UK</td>
			<td>1</td>
			<td>Bearing size and supplier can be varied</td>
		</tr>
		<tr>
			<td>Bearing (8 mm O.D and 5 mm I.D)</td>
			<td>Bearing Station Ltd., UK</td>
			<td>2</td>
			<td>Bearing size and supplier can be varied</td>
		</tr>
		<tr>
			<td>Plastic/metal shaft (6 mm O.D, 70 mm long)</td>
			<td>TR Fastenings Ltd., UK</td>
			<td>1</td>
			<td>e.g. Could be an M6 bolt and a nut</td>
		</tr>
		<tr>
			<td>Plastic/metal shaft (5 mm O.D, 70 mm long)</td>
			<td>TR Fastenings Ltd., UK</td>
			<td>1</td>
			<td>e.g. Could be an M5 bolt and a nut</td>
		</tr>
		<tr>
			<td>Ball-spring pairs</td>
			<td>WDS Ltd., UK</td>
			<td>4</td>
			<td>Numbers of ball-spring pairs could varied to adjust the triggering force of the clutch</td>
		</tr>
		<tr>
			<td>Clutch covers</td>
			<td>3D printing service</td>
			<td>2</td>
			<td>104 mm O.D, 5mm face width, 6 mm bore, as shown in Figure 2, with the STL file provided</td>
		</tr>
		<tr>
			<td>3D-printed shaft collar</td>
			<td>3D printing service</td>
			<td>1</td>
			<td>35 mm O.D and 30 mm I.D, 8mm face width, as shown in Figure 2, with the STL file provided</td>
		</tr>
		<tr>
			<td>3D-printed end-effector collar</td>
			<td>3D printing service</td>
			<td>1</td>
			<td>As shown in Figure 2, with the STL file provided</td>
		</tr>
		<tr>
			<td>Small geared stepper motors</td>
			<td>AOLONG TECHNOLOGY Ltd., China</td>
			<td>14</td>
			<td>Part number: GM15BYS; Internal gear ratio 232:1 or 150:1, all acceptable</td>
		</tr>
	</tbody>
</table>

design and implementation of a bespoke robotic manipulator for extra-corporeal ultrasound

With the potential for high precision, dexterity, and repeatability, a self-tracked robotic system can be employed to assist the acquisition of real-time ultrasound. However, limited numbers of robots designed for extra-corporeal ultrasound have been successfully translated into clinical use. In this study, we aim to build a bespoke robotic manipulator for extra-corporeal ultrasound examination, which is lightweight and has a small footprint. The robot is formed by five specially shaped links and custom-made joint mechanisms for probe manipulation, to cover the necessary range of motion with redundant degrees of freedom to ensure the patient&#39;s safety. The mechanical safety is emphasized with a clutch mechanism, to limit the force applied to patients. As a result of the design, the total weight of the manipulator is less than 2 kg and the length of the manipulator is about 25 cm. The design has been implemented, and simulation, phantom, and volunteer studies have been performed, to validate the range of motion, the ability to make fine adjustments, mechanical reliability, and the safe operation of the clutch. This paper details the design and implementation of the bespoke robotic ultrasound manipulator, with the design and assembly methods illustrated. Testing results to demonstrate the design features and clinical experience of using the system are presented. It is concluded that the current proposed robotic manipulator meets the requirements as a bespoke system for extra-corporeal ultrasound examination and has great potential to be translated into clinical use.

Following the protocol, the resulting system is a robotic manipulator with five specially shaped links (L0 to L4) and five revolute joints (J1 to J5) for moving, holding, and locally tilting a US probe (Figure 8). The top rotation joint (J1), with gear mechanisms actuated by four motors, can rotate the following structures 360&#176;, to allow the US probe to point toward different sides of the scanning ar...

Watch this Scientific Journal Video about Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound at JoVE.com

Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound

This paper introduces the design and implementation of a bespoke robotic manipulator for extra-corporeal ultrasound examination. The system has five degrees of freedom with lightweight joints made by 3D printing and a mechanical clutch for safety management.

With the potential for high precision, dexterity, and repeatability, a self-tracked robotic system can be employed to assist the acquisition of real-time ...

We developed a spoke robotic manipulator extra corporeal ultrasound, which will aim to translate into clinical use. The use of robotic systems for ultrasound diagnosis, can potentially improve medical diagnosis. The manipulator consists of lead weight, so the printable things, away from plastics which a mechanical clutch, feature.The clutch is independent of electrical systems and suferal logic. The robotic ultrasound manipulator can be used by Stenographers to reduce the risk of repetitive strain injury. The system can also be used for an ultrasound diagnosis.The manipulator provides full flexibility for ultrasound pre adjustments, allowing easy and safe operation in a small area. Potentially it can also be used to manipulate other medical devices. To begin, use the STL files provided in the supplementary materials for this article, and print all of the links and the effector is shown here.Print using ABS PLA or nylon using your own 3D printer, or a 3D printing service. Also use nylon to print all the required additional components shown here. As needed remove any supporting materials left from the 3D printing, and polish all of the printed plastic parts with polishing tools.Attach 20 teeth spur gears to four small geared stepper motors. Then place the stepper motors into the mountain cavities of link zero and mount them with screws. Next place the two 37 millimeter outer diameter bearings into the bearing housings of link zero.Then secure the 120 teeth type A spur gear onto the hexagon key of link one. Now insert the shaft on link one into the shaft hole on link zero with the four small driving spur gears, and the large driven spur gear engaged. Then assemble the shaft collar to secure and retain the shaft.Attach 20 teeth spur gears to another four small geared stepper motors. Then place the stepper motors into the mounting cavities of link one and mount them with screws. Next attach the two 120 teeth type B spur gears to the 237 millimeter outer diameter bearings.Position them into the gear cavities of link one, while the 120 teeth type B spur gear is engaged with the 20 teeth spur gears mounted on the motors. Unscrew, and re screw the motor if necessary to allow the easy positioning of the two 120 teeth type B spur gear. Put the gears in position, align link one and link two, and insert the bearing and a ball spring pears into the clutch holes in link two.With the two round clutch covers aligning and pushing the spring into the clutch mechanism for pre-loading, insert an M6 bolt into the bores of link one and two. Finally rotate the assembly to the other side, and repeat steps 4.3 for this side. Secure the assembly by attaching a nut to the M6 bolt.Attach 20 tooth spur gears to two more small geared stepper motors, then place the stepper motors into the mounting cavities of link two, and mount them with screws. Next place a 37 millimeter outer diameter bearing into the bearing housing of the 120 teeth type-c spur gear. Also place a 32 millimeter outer diameter bearing into the bearing housing of link three.Secure the large spur gear into the hexagon keyhole of link three, using additional screws if necessary. Then, while the small and the large spur gears engaged, insert the shaft on link two into the Boers on the large spur gear and link three. Place the two small geared stepper motors into the mounting cavities of Link three, and mount them with screws.Then place the 8 millimeter outer diameter bearings into the bearing housings of link four. Mount the 20 teeth long spur gear onto the two small stepper motors. Position the driven 140 14th bevel gear onto the extrusion of link four.Attach 18 teeth bevel gears to two small geared stepper motors. Then place the stepper motors into the mounting cavities of link four, and mount them with screws. Finally insert the M5 shaft into the shaft hole of link three and link four, after the two links are aligned.Ensure the built-in driven beer structures on link four matches with the 20 teeth long spur gear. Finally insert the end effector into the keyway of the large bevel gear then vertically position the end effector with the end effector color screwed onto it. The robotic manipulator assembled here has five specially shaped links, and five revolut joints for moving, holding, and locally tilting a US probe.The probe can be rotated axily to any angle. Tilted to follow a surface angle between zero degrees, and 110 degrees to the horizontal in any direction. And positioned within a circle, with a diameter of 360 millimeters.A large range of probe positions be reached with only small movements of the remaining global positioning mechanism, when using the proposed robotic us manipulator. Here a simulation shows the robot in positions around an abdominal phantom, demonstrating that it is able to reach around both sides of the abdomen and a range of positions on top. When performing these steps, it is important to remember that the driving, and driving gears have to be properly engaged for the mechanism to work.Following this procedure, we can assemble robotic manipulator original design for can potentially be converted into a robity wise for holding, and positioning other abdominal, surgical devices. Using the proposed manipulator, researchers now have a lightweight device to explore the potential clinical uses of robotic ultrasound technology, and to experiment with different authored modes to improve the diagnostic outcome.

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9.1K vues.  King's College London. Nous avons développé un manipulateur robotique parlé ultrasons corporels supplémentaires, qui viseront à traduire en utilisation clinique. L’utilisation de systèmes robotiques pour le diagnostic par ultrasons, peut potentiellement améliorer le diagnostic médical. Le manipulateur se compose de poids de plomb, de sorte que les choses imprimables, loin des plastiques qu’un embrayage mécanique, disposent.L’embrayage est indépendant des systèmes électriques et de la logiqu...