{"doi":"10.1115/1.4063469","title":"Toward Development of Novel Remote Ultrasound Robotic System Using Soft Robotics Technology","abstract":"This paper reports on the development of a novel soft robotic system for remote ultrasound applications. Direct contact of the ultrasound probe with the patient's body represents a safety risk and therefore control of the probe's positioning and applied force is a crucial task. The proposed robot uses a passive control system that provides safe interaction between the robot and the patient by leveraging soft robotics technology. The soft robot's structure can be considered as a nonlinear spring which can be designed to exert a safe force within the robot's workspace to guarantee the safety of human-robot interaction. The literature suggests that effective ultrasound imaging of both the heart and abdomen requires six degrees-of-freedom. These degrees-of-freedom consist of three translational motions, which are achieved using a novel hybrid soft cable-driven parallel robot, and three wrist motions, which is based on a universal joint design. The experimental results show that the robot can achieve all these six degrees-of-freedom, and its blocking force can be engineered to generate a uniform force within the workspace.","journal":"Journal of Engineering and Science in Medical Diagnostics and Therapy","year":2023,"id":377630,"datarank":0.0,"base_score":0.0,"endowment":0.0,"self_citation_contribution":0.0,"citation_network_contribution":0.0,"self_endowment_contribution":0.0,"citer_contribution":0.0,"corpus_percentile":null,"corpus_rank":null,"citation_count":3,"citer_count":0,"citers_with_citation_signal":0,"citers_with_endowment":0,"datacite_reuse_total":0,"is_dataset":false,"is_dataset_confidence":0.9593,"is_data_producer":false,"deposit_databanks":null,"is_oa":true,"file_count":0,"downloads":0,"has_version_chain":false,"published_date":"2023-01-01","fair_score":null,"fair_percentile":null,"algorithm_id":"datarank_citation_only_1hop_v6","ranking_scope":"data_only","authors":[{"id":1141647,"name":"Ammy Ovando","orcid":null,"position":1,"is_corresponding":false},{"id":1141285,"name":"Saleh Gharaie","orcid":"0000-0003-2660-6660","position":2,"is_corresponding":false},{"id":459277,"name":"Bobak Mosadegh","orcid":"0000-0003-0607-2825","position":3,"is_corresponding":false},{"id":1141286,"name":"David A. Guerra-Zubiaga","orcid":"0000-0002-3066-3759","position":4,"is_corresponding":false},{"id":979927,"name":"Seyedhamidreza Alaie","orcid":"0000-0001-6359-297X","position":5,"is_corresponding":false},{"id":1141287,"name":"Turaj Ashuri","orcid":"0000-0003-1536-933X","position":6,"is_corresponding":false},{"id":979928,"name":"Amir Ali Amiri Moghadam","orcid":"0000-0003-2454-7134","position":7,"is_corresponding":false},{"id":1141646,"name":"Sky Papendorp","orcid":null,"position":0,"is_corresponding":true}],"reference_count":21,"raw_metadata":null,"created_at":"2026-07-19T01:16:40.346877Z","pmid":"38059170","pmcid":null,"fwci":null,"citation_percentile":null,"influential_citations":0,"oa_status":null,"license":null,"views":0,"total_file_size_bytes":0,"version_count":0,"fair_f":null,"fair_a":null,"fair_i":null,"fair_r":null,"fair_zscore":null,"fair_rationale":null,"fair_model":null,"fair_agent_version":null,"fair_fulltext_source":null,"fair_has_llm":null,"fair_computed_at":null,"clinical_trials":[],"software_tools":[],"db_accessions":[],"linked_datasets":[],"topics":[]}