Force Controlled Operation of Robotic Arm for Echocardiography Scanning

Abstract

Echocardiography or ultrasound imaging of the heart is an invaluable tool for non-invasive cardiac evaluation. It is inexpensive, portable, and safe due to its lack of ionizing radiation. However, prolonged manual operation introduces musculoskeletal strain to sonographers, which requires innovative solutions. Collaborative robots or cobots offer an excellent option to reduce strain during cardiac scans. However, precise force control is vital to ensure patient comfort and optimal image quality. This study evaluates the application of force during robotic echocardiography scans in 30 healthy volunteers, demonstrating significantly reduced force compared to manual scans. Importantly, image quality remains uncompromised despite the minimal force exerted. These findings underscore the potential for robotic systems to be introduced into clinical practice by improving patient care and alleviating the stress of the sonographer. Future research could explore the application of robotic echocardiography in diverse patient populations, including those with various cardiac pathologies, to further validate its efficacy and safety. Overall, this study marks a significant step towards improving cardiac imaging practices and improving healthcare outcomes through the implementation of advanced robotic technologies.