Development of prototype system for robot-assisted ultrasound diagnosis

This paper presents a prototype system for robot-assisted ultrasound diagnosis. The system includes master-slave configuration integrated with ultrasound diagnostic machine. We designed a new slave robot based on rotary Stewart platform and the conventional US probe is installed inside of the platform and contacts with patient's skin through the hole in the base frame. In the experiments, 3D workspace including circular motion, tilting and twisting motion was investigated. Position accuracy between master device and slave robot was evaluated. Tele-robotic real-time US imaging was also tested by phantom model.