Development of Control Modes Used in Manipulator for Remote USG Examination

Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 1196)


The article focuses on design and implementation of control modes for the control system of a manipulator used as the main part of a robot for remote medical ultrasound examination. This control system has been developed within the ReMeDi (Remote Medical Diagnostician) project. At the beginning of the article, the manipulator kinematics and its control system structure are addressed. The essential components of the control system are discussed in detail. Finally, issues connected with design of control modes and their solutions are presented.


Remote medical examination Medical robot Manipulator Control system 


  1. 1.
    VGo, the manufacturer website.
  2. 2.
    Medirob, the manufacturer website.
  3. 3.
    AdEchoTech, the manufacturer website.
  4. 4.
    Remote Medical Diagnostician | ReMeDi Project | FP7 | CORDIS | European Commission.
  5. 5.
    Kurnicki, A., Cholewiński, M., Stańczyk, B., Arent, K.: Implementation and evaluation of a bilateral teleoperation with use of wave variables in the ReMeDi system for remote medical examination. In: Proceedings of the 22nd International Conference on Methods and Models in Automation and Robotics (MMAR 2017), pp. 131–136 (2017).
  6. 6.
    Mathiassen, K., Fjellin, J.E., Glette, K., Hol, P.K., Elle, O.J.: An ultrasound robotic system using the commercial robot UR5. Frontiers Rob. AI 3, 1–16 (2016). Scholar
  7. 7.
    Koizumi, N., Warisawa, S.: Construction methodology for a remote ultrasound diagnostic system. IEEE Trans. Rob. 25(3), 522–538 (2009). Scholar
  8. 8.
    Koizumi, N., Warisawa, S., Hashizume, H., Mitsuishi, M.: Continuous path controller for the remote ultrasound diagnostic system. IEEE/ASME Trans. Mech. 13(2), 206–218 (2008). Scholar
  9. 9.
    Santos, L., Cortesão, R.: Admittance control for robotic-assisted tele-echography. In: 16th International Conference on Advanced Robotics (ICAR), pp. 1–7 (2013).
  10. 10.
    Santos, L., Cortesão, R.: Computed-torque control for robotic-assisted tele-echography based on perceived stiffness estimation. IEEE Trans. Autom. Sci. Eng. 15(3), 1337–1354 (2018). Scholar
  11. 11.
    Kurnicki, A., Stańczyk, B.: Manipulator control system for remote USG examinantion. J. Autom. Mob. Rob. Intell. Syst. 13(2), 48–59 (2019). Scholar
  12. 12.
    Stańczyk, B., Kurnicki, A., Arent, K.: Logical architecture of medical telediagnostic robotic system. In: Proceedings of the 21st International Conference on Methods and Models in Automation and Robotics (MMAR 2016), pp. 200–205 (2016).
  13. 13.
    Siciliano, B., Sciavicco, L., Villani, L., Oriolo, G.: Robotics. Modelling, Planning and Control. Advanced Textbooks in Control and Signal Processing. Springer, London (2009).
  14. 14.
    Stańczyk, B., Peer, A., Buss, M.: Development of a high-performance haptic telemanipulation system with dissimilar kinematics. Adv. Rob. 20(11), 1303–1320 (2006). Scholar

Copyright information

© Springer Nature Switzerland AG 2020

Authors and Affiliations

  1. 1.Department of Automation and Metrology, Faculty of Electrical Engineering and Computer ScienceLublin University of TechnologyLublinPoland
  2. 2.ACCREA EngineeringLublinPoland

Personalised recommendations