Safe control of ultrasound probe on abdomen by pulling cables for robotic tele-echography system

We have developed a safe control method of ultrasound probe on patient abdomen for robotic tele-echography system. Ultrasound probe is fixed by metal ring including rotation mechanism and moved on patient abdomen by pulling by soft cables. To control the position of the probe, cable length should be calculated. We adopted geometrical body model according to the type of patient. And we controlled position of the probe by calculating four cable lengths and cable forces simultaneously. Negative feedback of total force on abdomen is achieved not to damage to the body of patient. By an actual experiment, we could control the robot from a medical doctor at a distance without mental stress.