A Pneumatic Haptic Probe Replica for Tele-Robotized Ultrasonography

  • Ibrahim Abdallah
  • Fabrice Gatwaza
  • Nicolas Morette
  • Arnaud LelevéEmail author
  • Cyril Novales
  • Laurence Nouaille
  • Xavier Brun
  • Pierre Vieyres
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11010)


This paper introduces a pneumatic haptic device to remotely control a slave ultrasound probe-holder robot. This device should orientate this probe according to the sonographer’s examination needs, while rendering the force applied by it on the patient’s body, in order to provide a realistic examination environment as in situ. Previous designs with electric actuators were limited in terms of torque, dimensions and ergonomics, which actually did not match end-users’ remote ultrasonography requirements. This paper describes the mechatronic design of an haptic pneumatic probe replica and preliminary control laws for it to perform as a Variable Stiffness Actuator (VSA). This approach is original and experimental results are provided to validate its feasibility.


Medical robotics Haptics Variable Stiffness Actuator Pneumatics 


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Copyright information

© Springer Nature Switzerland AG 2018

Authors and Affiliations

  • Ibrahim Abdallah
    • 1
  • Fabrice Gatwaza
    • 1
  • Nicolas Morette
    • 2
  • Arnaud Lelevé
    • 1
    Email author
  • Cyril Novales
    • 2
  • Laurence Nouaille
    • 2
  • Xavier Brun
    • 1
  • Pierre Vieyres
    • 2
  1. 1.Univ Lyon, INSA Lyon, Laboratoire Ampère (UMR 5005)LyonFrance
  2. 2.Univ. Orléans, INSA-CVL, PRISMEBourgesFrance

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