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Design of a manipulator system for hemorrhage detection and treatment using High Intensity Focused Ultrasound

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3 Author(s)
Valdivia y Alvarado, P. ; Energid Technol., Cambridge, MA, USA ; Chu-Yin Chang ; Hynynen, K.

This paper outlines the design of a portable manipulator system for use in remote detection and care of hemorrhage using high intensity focused ultrasound (HIFU). We have developed a kinematically redundant manipulator that uses high fidelity force control for safe interaction with human patients. The manipulator is outfitted with a dual imaging and sonication end-effector for hemorrhage detection and treatment. Unlike most available force controlled manipulators, the design presented in this paper has all the actuation embedded inside its body eliminating the need for a base which greatly improves portability. We review the main design features, advantages, and trade-offs of this approach and present experimental data of hemorrhage detection and controlled sonication of biological tissue samples.

Published in:

Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on

Date of Conference:

10-15 Oct. 2009