ArticleCyborg and bionic systems (Washington, D.C.)2025
Robotic Ultrasound Scanning End-Effector with Adjustable Constant Contact Force.
Article in Cyborg and bionic systems (Washington, D.C.), 2025. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 4 papers.
What it found
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The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.
The trial behind it
Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.
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Who cites it
4 citing papers in PubMed.
- Technical challenges in autonomous robotic ultrasound examinations: perception, planning, and control.Journal of robotic surgery · 2026Review
- A Review and Perspective of Techniques for Autonomous Robotic Ultrasound Acquisitions.Sensors (Basel, Switzerland) · 2026Review
- Robot-Assisted Osteotomy and Reconstruction with AR Guidance in Maxillofacial Reconstructive Surgery.Cyborg and bionic systems (Washington, D.C.) · 2026Article
- Article
Corrections and comments
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Authors and funding
5 authors.
Funding
No grant is acknowledged in the PubMed record.
Abstract
In modern medical treatment, ultrasound scanning provides a radiation-free medical imaging method for the diagnosis of soft tissues via skin contact. However, the exerted contact force heavily relies on the skill and experience of the operator, which poses great inspection instability. This article reports on a robotic ultrasound scanning system with a constant-force end-effector. Its uniqueness is the introduction of a hybrid active-passive force control approach to maintaining a constant contact force between the ultrasound probe and the continually changing surface. In particular, the passive constant-force mechanism provides strong buffering to the force variation. The active force control system improves flexibility and provides long-stroke positioning. Experimental tests on both silicone models and human volunteers demonstrate the capability of the proposed robotic ultrasound scanning system for obtaining qualified ultrasound images with high repeatability. Moreover, the ease of operation of the robotic US scanning system is verified. This work provides a promising method to assist doctors in conducting better and cushier ultrasound scanning imaging.
Identifiers
What Socratic holds
Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the Socratic graph.