Endocavity ultrasound probe manipulators

Dan Stoianovici, Chunwoo Kim, Felix Schäfer, Chien Ming Huang, Yihe Zuo, Doru Petrisor, Misop Han

Research output: Contribution to journalArticlepeer-review

17 Scopus citations


We developed two similar structure manipulators for medical endocavity ultrasound probes with 3 and 4 degrees of freedom (DoF). These robots allow scanning with ultrasound for 3-D imaging and enable robot-assisted image-guided procedures. Both robots use remote center of motion kinematics, characteristic of medical robots. The 4-DoF robot provides unrestricted manipulation of the endocavity probe. With the 3-DoF robot the insertion motion of the probe must be adjusted manually, but the device is simpler and may also be used to manipulate external-body probes. The robots enabled a novel surgical approach of using intraoperative image-based navigation during robot-assisted laparoscopic prostatectomy (RALP), performed with concurrent use of two robotic systems (Tandem, T-RALP). Thus far, a clinical trial for evaluation of safety and feasibility has been performed successfully on 46 patients. This paper describes the architecture and design of the robots, the two prototypes, control features related to safety, preclinical experiments, and the T-RALP procedure.

Original languageEnglish (US)
Article number6194333
Pages (from-to)914-921
Number of pages8
JournalIEEE/ASME Transactions on Mechatronics
Issue number3
StatePublished - 2013


  • Image guide
  • medical robot
  • prostatectomy
  • remote center of motion (RCM)
  • transrectal ultrasound (TRUS) probe
  • ultrasound

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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