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.
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.
