SYSTEM FOR ROBOT-ASSISTED CONTROL OF TRANSRECTAL PROBE, USED TO CONDUCT PROSTATE ULTRASONOGRAPHY

摘要

A system (1) to control an ultrasonic transrectal probe for ultrasonography comprises: a probe (2); and a structure (3) supporting the probe (2) transferred by a wrist part (6) of a multiaxial manipulation robot (4). A load cell (5) is operationally set between the probe (2) and the wrist part (6) of the robot (4). The system further comprises: an electronic control unit (E) controlling the robot (4); and manual-guide devices (7, 8) guiding the robot. The manual-guide devices are connected with the electronic control unit (E), includes manual-guide members (71, 83), and are able to be manipulated by a manipulator to apply a movement of the robot (4) which is a function of a movement applied to the manual-guide members (71, 83). When the load cell (5) signals that a threshold value of stress, detected by the load cell, is exceeded; the electronic control unit (E) of the robot (4) receives a signal from the load cell (5) and activates a warning condition. Advisably, the manual-guide members (71, 83) are pre-arranged to supply a vibrational and tactile feedback to the manipulator.;COPYRIGHT KIPO 2017