Study on Shared Compliance Control of Teleoperated Abdominal Ultrasonic Robot.

As an important auxiliary tool in the diagnosis and treatment of many diseases, ultrasound examination has become one of the most routine examinations in clinical application due to its advantages of non-invasive and radiation-free. However, in practical application, sonographers are prone to fatigue damage and lack of talent resources, and there are also risks of cross infection between doctors and patients during the COVID-19. The full use of doctors’ clinical experience and the appropriate intensity of examination in the actual ultrasound examination are the key issues concerned by both doctors and patients. Therefore, a set of shared compliance control system of teleoperation ultrasound robot was built in this paper. In order to make the robot have a certain degree of environmental adaptability, an adaptive impedance control method was introduced. In the process of ultrasound examination, the fusion of human-machine shared control methods was used to apply clinical examination experience or respond to clinical conditions. The proposed control strategy aims to focus on the study of ultrasonic doctors in giving full play to clinical examination experience while ensuring examination strength and human safety, giving full play to the advantages of human and machine respectively, so that ultrasonic doctors and robots “each play their own roles” and complement each other, improving ultrasound examination efficiency.