| 标 题： |
A 6 DOF Parallel Haptic Device for Initial Echography Training
用于初学者超声培训的六自由度并联触觉装置 |
| 作 者： |
Mykhailo Riabtsev
Med Amine Laribi
Jean-Michel Guilhem
Victor Petuya
Monica Urizar
Marc Arsicault
Said Zeghloul |
| 关键词： |
Sonography [超声成像]
Haptic device [ 触觉设备]
Body phantom [ 人体仿生模型]
Kinematics [ 运动学]
Mechanical design [ 机械设计] |
| 出版年： |
2025 |
| 文集名： |
New Trends in Medical and Service Robotics - MESROB 2025
医疗与服务机器人新趋势 - MESROB 2025 |
| 会议名： |
9th International Workshop on New Trends in Medical and Service Robots (MESROB 2025)
第九届医疗与服务机器人新趋势国际研讨会（MESROB 2025） |
| 届 次： |
9th |
| 摘 要： |
This paper addresses the insufficiency of trained echography personnel in developed countries and the need for specialized skill development by introducing a novel 6-DOF parallel Cartesian haptic device for initial sonography training. The proposed mechanism consists of two identical limbs linked by a tool rod with a high-pitched screw for precise vertical actuation. Equipped with a functional sonography probe and a self-rotation mechanism using constant velocity joints, the system enables scanning of body phantoms to simulate pathologies. The direct and inverse kinematics are analyzed to determine the probe's position and orientation. The developed concept is designed to provide force feedback with values closer to those encountered in real scans while utilizing a structure built from affordable components. These advantages make it particularly appealing compared to existing systems, especially in developing regions.
本文针对发达国家中训练有素的超声技术人员不足的问题，提出了一种新型六自由度并联笛卡尔触觉装置，用于超声检查的初步培训。该装置由两个相同的机械臂通过一根带有高精度螺钉的工具杆连接而成，可实现精确的垂直运动。系统配备功能超声探头和采用恒速关节的自转机构，能够扫描人体模型以模拟各种病理情况。通过分析正逆运动学，可确定探头的位置与方向。所开发的概念旨在利用经济实惠的组件构建结构，同时提供更接近实际扫描中所见的力反馈值。这些优势使其在发展中国家尤其具有吸引力，相较于现有系统更具优势。 |
| 中文内容为网络AI翻译，专业术语未必准确，仅供参考。 |
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