Parallel Kinematic Actuator with Reduced Size and Improved Performance

Applications for ultrasound are expanding beyond medical imaging to include new functionality, with the potential to halt internal bleeding or provide an alternative to manual suturing. These types of functions are in some ways suited to a surgical robot, offering the potential for teleoperation or perhaps even autonomous functionality. However, the requirements for positioning an ultrasound device are different than those for a typical surgical robot. An end-effector is proposed that will use parallel kinematics and force feedback to make an actuator that is “actively compliant”. This end-effector will be fixed to the end of a conventional articulated robot, but will have high bandwidth in all six axes of motion, allowing it to correct for compliance and shifts in the position of the patient. Thus, controlled contact can be maintained between the ultrasound device and the patient, allowing for proper function of the device.