Ultrasound scanning end-effector with adjustable constant contact force
Recent advances in robotic ultrasound systems have shown promise for improving diagnostic imaging consistency. However, maintaining stable contact force across dynamic physiological changes (e.g., breathing, tremors) without continuous sensor recalibration remains a critical hurdle. "By integrating a hybrid active-passive force control mechanism, our method decouples force regulation from real-time feedback dependencies while ensuring adaptability across patients," stated corresponding author Qingsong Xu, a professor at the University of Macau. The tripartite system combines (a) a passive constant-force mechanism (positive/negative stiffness ...