The goal of this project is to develop a robotic system to assist the physician in minimally invasive ultrasound
interventions. In current practice, the physician must manually hold the ultrasound probe in one hand and manipulate the
needle with the other hand, which can be challenging, particularly when trying to target small lesions. To assist the
physician, the robot should not only be capable of providing the spatial movement needed, but also be able to control the
contact force between the ultrasound probe and patient. To meet these requirements, we are developing a prototype
system based on a six degree of freedom parallel robot. The system will provide high bandwidth, precision motion, and
force control. In this paper we report on our progress to date, including the development of a PC-based control system
and the results of our initial experiments.
For vision-based controlled flexible arm, the camera and driving motor are located at different locations, that is, noncollocated control system. The stability will not be guaranteed. Therefore, simplified finite dimensional dynamic models of flexible arm will be developed for the purpose of controller design based on Kane¡¯s equations and Euler-Berneuli theory. This paper addresses the issue of selecting the shape and mode in developing finite order models and designs suitable PID controller for a flexible arm with vision-based control. Results show that designed controller can match the requirements for vision-based controlled flexible arm when the influence of the dead band will be eliminated.