Flat-panel ultrasound robot: A novel imaging concept and a novel motorized kinematics for an ultrasound probe during laparoscopic interventions

In this manuscript we propose a robot with a novel kinematics and a novel imaging concept for a transcutaneous ultrasound probe. The underlying goal is to provide a laparoscopic surgeon intraoperative real-time images from within the surgical field without additional man power. The robot is manually controlled by the surgeon through a joystick console. The device is divided into two separate chambers. One is filled with pressurized water and incorporates an transcutaneous ultrasound probe. It is covered with a flexible silicone membrane that is in contact with the patient. The second cavity incorporates the kinematics and is filled with pressurized air. The kinematics has four degrees of freedom (two translational and two rotatory). In this paper, we provide the mathematical description for the direct as well as for the indirect kinematics along with a validation experiment.