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Robotic Arm Optimizes Ultrasound Probe Testing

By MedImaging International staff writers
Posted on 28 Nov 2018

A new robotic cell offers an integrated solution to make the testing of ultrasound transducer probes more efficient and traceable.

The robotic cell, developed in a collaboration between Esaote (Genova, Italy) and The BioRobotics Institute of Scuola Superiore Sant’Anna (Pontedera, Italy), consists of a collaborative robot arm from Universal Robots (Odense, Denmark) and a Schunk gripper equipped with custom fingers that with the aid of a human operator, can verify correct probe positioning during testing. More...

To increase reproducibility and repeatability during testing, the robotic cell automates the process.

Users thus have more precise data, including the most important, characterizing measurement of an ultrasound probe, the pulse echo measurement. The pulse echo measurement from each single array element, which identifies waveform, bandshape quality, and amplitude, consists in simply receiving an ultrasound pulse sent into a water tank from the probe itself and reflected from a metallic target. Probe performance parameters that can be analyzed include image quality (SNR), maximum diagnostic depth, operational frequencies, and many others.

With the human operator working alongside the robot, without the need of external technologies, the human can perform all the highly precise manipulation tasks, by visually monitoring the process and easily interacting with the robot. All the repetitive tasks, covering actions requiring a low level of know-how, are demanded to the robot, increasing the productivity of the process. The robotic cell can thus make it possible to execute precise probe positioning in the water tank, in terms of spatial resolution for all the degrees of freedom used for probe alignment during the test.

“The robotic cell has reached two goals; the first is to automate the procedure for the operation of the tests; the second is to keep in the foreground the role of man. Esaote operators will interact with the robot, supporting it during the tests,” said Marco Controzzi, of The BioRobotics Institute. “This line of research reflects the mission of ‘Human-Robot-Interaction’, the laboratory of collaborative robotics of The BioRobotics Institute. We imagine a synergy between men and robots, combining the advantages of manual production with precision and repeatability of automation.”

An ultrasound transducer typically consists of 128-512 piezoelectric elements that are arranged in linear or curvilinear arrays, with each element equal to or less than a ½ wavelength wide. The purpose of the transducer is to convert electrical energy into mechanical sonic energy and back again, based on the piezoelectric effect. A standard ultrasound transducer is comprised of a piezoelectric ceramic, a hard rubber backing substrate, several (usually one to four) acoustic matching layers, and a silicon rubber lens.

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60 (112.05673217773): SELECT * FROM jos_deeppockets WHERE 1=1 AND id=294775912 AND published='1' union SELECT * FROM jos_deeppockets_archive WHERE 1=1 AND id=294775912 AND published='1' LIMIT 1

61 (46.968460083008): SELECT * FROM jos_deeppockets WHERE 1=1 AND id=294775912 AND published='1' union SELECT * FROM jos_deeppockets_archive WHERE 1=1 AND id=294775912 AND published='1' LIMIT 1

62 (92.983245849609): select cover from jos_number where journalid in (5) and cover is not null order by left(issue,2)+right(issue,2)*12 desc limit 1

63 (512.12310791016): SELECT fid FROM jos_deeppockets WHERE id=294775912 AND published='1' union SELECT fid FROM jos_deeppockets_archive WHERE id=294775912 AND published='1' LIMIT 1

64 (308.03680419922): SELECT id,name,sponsor_text FROM jos_deeppockets dp left outer join jos_channel_sponsor cs on dp.id=cs.fid WHERE cat=10 AND TYPE='file_folder' AND published=1 AND id=214 ORDER BY `ordering`

65 (45.061111450195): select jos_twitters.link from jos_twitters where cat=10

66 (30.040740966797): select jos_facebook.link from jos_facebook where cat=10

67 (31.948089599609): select jos_google_plus.link from jos_google_plus where cat=10

68 (29.087066650391): select jos_linkedin.link from jos_linkedin where cat=10

69 (31.948089599609): SELECT fid FROM jos_deeppockets WHERE id=294775912 AND published='1' union SELECT fid FROM jos_deeppockets_archive WHERE id=294775912 AND published='1' LIMIT 1

70 (30.994415283203): SELECT id,name,sponsor_text FROM jos_deeppockets dp left outer join jos_channel_sponsor cs on dp.id=cs.fid WHERE cat=10 AND TYPE='file_folder' AND published=1 AND id=214 ORDER BY `ordering`

71 (278.94973754883): SELECT fid FROM jos_deeppockets WHERE cat=10 AND id=294775912 AND (type='deeppockets_item' OR type='deeppockets_item_link') AND published='1' LIMIT 1

72 (244.140625): SELECT fid FROM jos_deeppockets_archive WHERE cat=10 AND id=294775912 AND (type='deeppockets_item' OR type='deeppockets_item_link') AND published='1' LIMIT 1

73 (38.862228393555): SELECT id,name,title FROM jos_deeppockets WHERE cat=10 AND TYPE='file_folder' AND published=1 AND id != 294743300 AND id != 294743301 AND id != 294743302 AND id != 294743303 AND id != 294743304 AND id != 294743305 AND id != 294743306 AND id != 294743307 AND id != 294743308 AND id != 294743309 AND id != 294743310 AND metakey != 'aacc' ORDER BY `ordering`

74 (56.982040405273): SELECT show_live FROM jos_com_show_setting LIMIT 1

75 (30.994415283203): SELECT show_live FROM jos_com_show_setting LIMIT 1

76 (30.040740966797): SELECT show_live FROM jos_com_show_setting LIMIT 1

77 (28.848648071289): SELECT show_live FROM jos_com_show_setting LIMIT 1

78 (27.894973754883): SELECT show_live FROM jos_com_show_setting LIMIT 1

79 (29.087066650391): SELECT show_live FROM jos_com_show_setting LIMIT 1

80 (27.894973754883): SELECT show_live FROM jos_com_show_setting LIMIT 1

81 (28.848648071289): SELECT show_live FROM jos_com_show_setting LIMIT 1

82 (29.087066650391): SELECT show_live FROM jos_com_show_setting LIMIT 1

83 (27.894973754883): SELECT show_live FROM jos_com_show_setting LIMIT 1

84 (27.894973754883): SELECT show_live FROM jos_com_show_setting LIMIT 1

85 (28.133392333984): SELECT show_live FROM jos_com_show_setting LIMIT 1

86 (44.107437133789): SELECT show_live FROM jos_com_show_setting LIMIT 1

87 (36.954879760742): SELECT show_live FROM jos_com_show_setting LIMIT 1

88 (45.061111450195): SELECT fid FROM jos_deeppockets WHERE cat=10 AND id=294775912 AND (type='deeppockets_item' OR type='deeppockets_item_link') AND published='1' LIMIT 1

89 (31.948089599609): SELECT fid FROM jos_deeppockets_archive WHERE cat=10 AND id=294775912 AND (type='deeppockets_item' OR type='deeppockets_item_link') AND published='1' LIMIT 1

90 (33.140182495117): SELECT id,name,title FROM jos_deeppockets WHERE cat=10 AND TYPE='file_folder' AND published=1 AND id != 294743300 AND id != 294743301 AND id != 294743302 AND id != 294743303 AND id != 294743304 AND id != 294743305 AND id != 294743306 AND id != 294743307 AND id != 294743308 AND id != 294743309 AND id != 294743310 AND metakey != 'aacc' ORDER BY `ordering`

91 (134.94491577148): SELECT show_live FROM jos_com_show_setting LIMIT 1

92 (41.961669921875): SELECT show_live FROM jos_com_show_setting LIMIT 1

93 (60.081481933594): SELECT show_live FROM jos_com_show_setting LIMIT 1

94 (46.014785766602): SELECT show_live FROM jos_com_show_setting LIMIT 1

95 (107.0499420166): SELECT show_live FROM jos_com_show_setting LIMIT 1

96 (34.093856811523): SELECT show_live FROM jos_com_show_setting LIMIT 1

97 (30.994415283203): SELECT show_live FROM jos_com_show_setting LIMIT 1

98 (32.901763916016): SELECT show_live FROM jos_com_show_setting LIMIT 1

99 (39.100646972656): SELECT show_live FROM jos_com_show_setting LIMIT 1

100 (39.100646972656): SELECT show_live FROM jos_com_show_setting LIMIT 1

101 (30.994415283203): SELECT show_live FROM jos_com_show_setting LIMIT 1

102 (30.040740966797): SELECT show_live FROM jos_com_show_setting LIMIT 1

103 (28.848648071289): SELECT show_live FROM jos_com_show_setting LIMIT 1

104 (28.848648071289): SELECT show_live FROM jos_com_show_setting LIMIT 1

105 (114.91775512695): SELECT * FROM jos_deeppockets WHERE 1=1 AND id=294775912 AND published='1' union SELECT * FROM jos_deeppockets_archive WHERE 1=1 AND id=294775912 AND published='1' LIMIT 1

106 (55.074691772461): SELECT * FROM jos_deeppockets WHERE 1=1 AND id=294775912 AND published='1' union SELECT * FROM jos_deeppockets_archive WHERE 1=1 AND id=294775912 AND published='1' LIMIT 1

107 (149.96528625488): SELECT dp.*, ch.title as channel, exp.name as author_name, exp.specialization as author_specialization, exp.images as author_photo FROM jos_deeppockets as dp LEFT JOIN jos_experts as exp ON exp.id = dp.author LEFT JOIN jos_deeppockets as ch ON dp.fid = ch.id WHERE 1=1 AND dp.cat=10 AND dp.id=294775912 AND (dp.type='deeppockets_item' OR dp.type='deeppockets_item_link') AND dp.published='1' LIMIT 1

108 (120.87821960449): SELECT dp.*, ch.title as channel, exp.name as author_name, exp.specialization as author_specialization, exp.images as author_photo FROM jos_deeppockets_archive as dp LEFT JOIN jos_experts as exp ON exp.id = dp.author LEFT JOIN jos_deeppockets as ch ON dp.fid = ch.id WHERE 1=1 AND dp.cat=10 AND dp.id=294775912 AND (dp.type='deeppockets_item' OR dp.type='deeppockets_item_link') AND dp.published='1' LIMIT 1

109 (82.015991210938): SELECT * FROM jos_deeppockets WHERE 1=1 AND id=294775912 AND published='1' union SELECT * FROM jos_deeppockets_archive WHERE 1=1 AND id=294775912 AND published='1' LIMIT 1

110 (60.081481933594): SELECT * FROM jos_deeppockets WHERE 1=1 AND id=294775912 AND published='1' union SELECT * FROM jos_deeppockets_archive WHERE 1=1 AND id=294775912 AND published='1' LIMIT 1

111 (49.829483032227): SELECT dp.*, ch.title as channel, exp.name as author_name, exp.specialization as author_specialization, exp.images as author_photo FROM jos_deeppockets as dp LEFT JOIN jos_experts as exp ON exp.id = dp.author LEFT JOIN jos_deeppockets as ch ON dp.fid = ch.id WHERE 1=1 AND dp.id=294775912 AND (dp.type='deeppockets_item' OR dp.type='deeppockets_item_link') AND dp.published='1' LIMIT 1

112 (669.00253295898): SELECT dp.*, ch.title as channel, exp.name as author_name, exp.specialization as author_specialization, exp.images as author_photo FROM jos_deeppockets_archive as dp LEFT JOIN jos_experts as exp ON exp.id = dp.author LEFT JOIN jos_deeppockets as ch ON dp.fid = ch.id WHERE 1=1 AND dp.id=294775912 AND (dp.type='deeppockets_item' OR dp.type='deeppockets_item_link') AND dp.published='1' LIMIT 1

113 (746.9654083252): SELECT dp.name, dp.id, dp2.name as channel, ex.name as author_name, ex.specialization, ex.images FROM jos_deeppockets as dp LEFT JOIN jos_experts as ex ON ex.id = dp.author LEFT JOIN jos_deeppockets as dp2 ON dp2.id = dp.fid WHERE dp.author != 0 AND dp.cat = 10 AND dp.published = 1 AND ( (dp.fid = 294743300) OR (dp.fid = 294743301) OR (dp.fid = 294743302) OR (dp.fid = 294743303) OR (dp.fid = 294743304) OR (dp.fid = 294743305) OR (dp.fid = 294743306) OR (dp.fid = 294743307) OR (dp.fid = 294743308) OR (dp.fid = 294743309) OR (dp.fid = 294743310) ) ORDER BY RAND() LIMIT 1

114 (519.99092102051): SELECT dp.name, dp.id, dp2.name as channel, ex.name as author_name, ex.specialization, ex.images FROM jos_deeppockets as dp LEFT JOIN jos_experts as ex ON ex.id = dp.author LEFT JOIN jos_deeppockets as dp2 ON dp2.id = dp.fid WHERE dp.author != 0 AND dp.cat = 10 AND dp.published = 1 AND ( (dp.fid = 294743300) OR (dp.fid = 294743301) OR (dp.fid = 294743302) OR (dp.fid = 294743303) OR (dp.fid = 294743304) OR (dp.fid = 294743305) OR (dp.fid = 294743306) OR (dp.fid = 294743307) OR (dp.fid = 294743308) OR (dp.fid = 294743309) OR (dp.fid = 294743310) ) ORDER BY RAND() LIMIT 1

115 (154.97207641602): SELECT * FROM jos_deeppockets WHERE 1=1 AND id=294775912 AND published='1' union SELECT * FROM jos_deeppockets_archive WHERE 1=1 AND id=294775912 AND published='1' LIMIT 1

116 (82.015991210938): SELECT * FROM jos_deeppockets WHERE 1=1 AND id=294775912 AND published='1' union SELECT * FROM jos_deeppockets_archive WHERE 1=1 AND id=294775912 AND published='1' LIMIT 1

117 (101.80473327637): SELECT * FROM jos_deeppockets WHERE 1=1 AND id=294775912 AND published='1' union SELECT * FROM jos_deeppockets_archive WHERE 1=1 AND id=294775912 AND published='1' LIMIT 1

118 (62.942504882812): SELECT * FROM jos_deeppockets WHERE 1=1 AND id=294775912 AND published='1' union SELECT * FROM jos_deeppockets_archive WHERE 1=1 AND id=294775912 AND published='1' LIMIT 1

119 (61.988830566406): SELECT * FROM jos_deeppockets WHERE 1=1 AND id=294775912 AND published='1' union SELECT * FROM jos_deeppockets_archive WHERE 1=1 AND id=294775912 AND published='1' LIMIT 1

120 (43.153762817383): SELECT * FROM jos_deeppockets WHERE 1=1 AND id=294775912 AND published='1' union SELECT * FROM jos_deeppockets_archive WHERE 1=1 AND id=294775912 AND published='1' LIMIT 1

121 (58.889389038086): SELECT * FROM jos_deeppockets WHERE 1=1 AND id=294775912 AND published='1' union SELECT * FROM jos_deeppockets_archive WHERE 1=1 AND id=294775912 AND published='1' LIMIT 1

122 (39.100646972656): SELECT * FROM jos_deeppockets WHERE 1=1 AND id=294775912 AND published='1' union SELECT * FROM jos_deeppockets_archive WHERE 1=1 AND id=294775912 AND published='1' LIMIT 1

123 (560.04524230957): SELECT fid FROM jos_deeppockets WHERE cat=10 AND id=294775912 AND type='deeppockets_item' AND published='1' union SELECT fid FROM jos_deeppockets_archive WHERE cat=10 AND id=294775912 AND type='deeppockets_item' AND published='1' LIMIT 1

124 (!!!!! 8877.9926300049): ( SELECT dp.id, dp.name, dp.title, dp.video, dp.video_source, dp.created FROM jos_deeppockets AS dp WHERE dp.video != '' AND dp.video_source != '' AND dp.cat = 10 AND dp.published = 1 AND dp.type != 'deeppockets_item_link' ORDER BY created DESC LIMIT 3 ) UNION ( SELECT dpa.id, dpa.name, dpa.title, dpa.video, dpa.video_source, dpa.created FROM jos_deeppockets_archive AS dpa WHERE dpa.video != '' AND dpa.video_source != '' AND dpa.cat = 10 AND dpa.published = 1 AND dpa.type != 'deeppockets_item_link' ORDER BY created DESC LIMIT 3 ) ORDER BY created DESC LIMIT 3

125 (143.05114746094): ( SELECT dp.id, dp.name, dp.title, dp.video, dp.video_source, dp.created FROM jos_deeppockets AS dp WHERE dp.video != '' AND dp.video_source != '' AND dp.cat = 10 AND dp.published = 1 AND dp.type != 'deeppockets_item_link' ORDER BY created DESC LIMIT 3 ) UNION ( SELECT dpa.id, dpa.name, dpa.title, dpa.video, dpa.video_source, dpa.created FROM jos_deeppockets_archive AS dpa WHERE dpa.video != '' AND dpa.video_source != '' AND dpa.cat = 10 AND dpa.published = 1 AND dpa.type != 'deeppockets_item_link' ORDER BY created DESC LIMIT 3 ) ORDER BY created DESC LIMIT 3

126 (51.975250244141): SELECT dp.id, dp.name, dp.title, dp.video, dp.video_source, dp.created FROM jos_deeppockets AS dp WHERE dp.id = 294803337 LIMIT 1

127 (34.093856811523): SELECT dp.id, dp.name, dp.title, dp.video, dp.video_source, dp.created FROM jos_deeppockets AS dp WHERE dp.id = 294803337 LIMIT 1

128 (108.95729064941): SELECT dp.id, dp.name, dp.title, dp.video, dp.video_source, dp.created FROM jos_deeppockets AS dp WHERE dp.id = 294803276 LIMIT 1

129 (42.915344238281): SELECT dp.id, dp.name, dp.title, dp.video, dp.video_source, dp.created FROM jos_deeppockets AS dp WHERE dp.id = 294803276 LIMIT 1

130 (361.20414733887): SELECT dp.id, dp.name, dp.title, dp.video, dp.video_source, dp.created FROM jos_deeppockets_archive AS dp WHERE dp.id = 294803276 LIMIT 1

131 (39.100646972656): SELECT dp.id, dp.name, dp.title, dp.video, dp.video_source, dp.created FROM jos_deeppockets_archive AS dp WHERE dp.id = 294803276 LIMIT 1

132 (35.04753112793): SELECT dp.id, dp.name, dp.title, dp.video, dp.video_source, dp.created FROM jos_deeppockets AS dp WHERE dp.id = 294802958 LIMIT 1

133 (29.087066650391): SELECT dp.id, dp.name, dp.title, dp.video, dp.video_source, dp.created FROM jos_deeppockets AS dp WHERE dp.id = 294802958 LIMIT 1

134 (510.93101501465): SELECT * FROM jos_deeppockets WHERE 1=1 AND id=294775912 AND (type='deeppockets_item' OR type='deeppockets_item_link') AND published='1' LIMIT 1

135 (405.07316589355): SELECT * FROM jos_deeppockets_archive WHERE 1=1 AND id=294775912 AND (type='deeppockets_item' OR type='deeppockets_item_link') AND published='1' LIMIT 1

136 (280.85708618164): SELECT name FROM jos_deeppockets WHERE id=214

137 (41.961669921875): SELECT name FROM jos_deeppockets WHERE id=214

138 (613.21258544922): SELECT *, DATE_FORMAT(publish_up,'%d %b %Y') AS date_publish_up, DATE_FORMAT(publish_down,'%d %b %Y') AS date_publish_down FROM jos_events WHERE state=1 AND publish_up > NOW() and extra_info REGEXP '((;)|(^))214((;)|($))' AND catid IN (0,110) ORDER BY publish_up ASC LIMIT 3

139 (560.04524230957): SELECT *, DATE_FORMAT(publish_up,'%d %b %Y') AS date_publish_up, DATE_FORMAT(publish_down,'%d %b %Y') AS date_publish_down FROM jos_events WHERE state=1 AND publish_up > NOW() and extra_info REGEXP '((;)|(^))214((;)|($))' AND catid IN (0,110) ORDER BY publish_up ASC LIMIT 3

140 (72.956085205078): SELECT * FROM jos_deeppockets WHERE 1=1 AND id=294775912 AND published='1' union SELECT * FROM jos_deeppockets_archive WHERE 1=1 AND id=294775912 AND published='1' LIMIT 1

141 (51.975250244141): SELECT * FROM jos_deeppockets WHERE 1=1 AND id=294775912 AND published='1' union SELECT * FROM jos_deeppockets_archive WHERE 1=1 AND id=294775912 AND published='1' LIMIT 1

142 (334.9781036377): SELECT * FROM jos_deeppockets WHERE 1=1 AND id=294775912 AND (type='deeppockets_item' OR type='deeppockets_item_link') AND published='1' LIMIT 1

143 (52.928924560547): SELECT * FROM jos_deeppockets WHERE 1=1 AND id=294775912 AND (type='deeppockets_item' OR type='deeppockets_item_link') AND published='1' LIMIT 1

144 (52.928924560547): SELECT * FROM jos_deeppockets WHERE 1=1 AND id=294775912 AND published='1' union SELECT * FROM jos_deeppockets_archive WHERE 1=1 AND id=294775912 AND published='1' LIMIT 1

145 (46.014785766602): SELECT * FROM jos_deeppockets WHERE 1=1 AND id=294775912 AND published='1' union SELECT * FROM jos_deeppockets_archive WHERE 1=1 AND id=294775912 AND published='1' LIMIT 1

146 (!!!!! 1208.0669403076): SELECT jos_item.* FROM jos_item INNER JOIN jos_number ON jos_item.numberID=jos_number.id WHERE 1=1 AND (jos_item.imgMini<>'') AND jos_item.type='L' AND jos_item.numberID= ( SELECT jos_number.id FROM jos_number WHERE jos_number.journalID IN (10) and jos_number.id in (select distinct jos_number.id from jos_number join jos_item on jos_item.numberid=jos_number.id where jos_item.type='P') ORDER BY (CONVERT(SUBSTRING(issue,1,2),SIGNED) + (CONVERT(SUBSTRING(issue,3,2),SIGNED)*100)) DESC LIMIT 0,1 ) ORDER BY RAND() DESC LIMIT 6

147 (56.982040405273): SELECT * FROM jos_deeppockets WHERE 1=1 AND id=294775912 AND published='1' union SELECT * FROM jos_deeppockets_archive WHERE 1=1 AND id=294775912 AND published='1' LIMIT 1

148 (53.167343139648): SELECT * FROM jos_deeppockets WHERE 1=1 AND id=294775912 AND published='1' union SELECT * FROM jos_deeppockets_archive WHERE 1=1 AND id=294775912 AND published='1' LIMIT 1

149 (36.954879760742): SELECT fid FROM jos_deeppockets WHERE cat=10 AND id=294775912 AND type='deeppockets_item' AND published='1' union SELECT fid FROM jos_deeppockets_archive WHERE cat=10 AND id=294775912 AND type='deeppockets_item' AND published='1' LIMIT 1

150 (32.901763916016): select distinct links.* from jos_textlinks links join jos_textlinks_placement placement on links.id=placement.link_id where journal_id=(10) and (channel_id=214 or channel_id is null)

151 (30.994415283203): select distinct links.* from jos_textlinks links join jos_textlinks_placement placement on links.id=placement.link_id where journal_id=(10) and (channel_id=214 or channel_id is null)

152 (53.167343139648): SELECT livesite FROM jos_dp_categories WHERE id=10 AND published='1' LIMIT 1

153 (206.94732666016): SELECT * FROM jos_deeppockets WHERE 1=1 AND id=294775912 AND published='1' union SELECT * FROM jos_deeppockets_archive WHERE 1=1 AND id=294775912 AND published='1' LIMIT 1

154 (80.108642578125): SELECT * FROM jos_deeppockets WHERE 1=1 AND id=294775912 AND published='1' union SELECT * FROM jos_deeppockets_archive WHERE 1=1 AND id=294775912 AND published='1' LIMIT 1

155 (39.815902709961): select jos_twitters.link from jos_twitters where cat=10

156 (30.040740966797): select jos_facebook.link from jos_facebook where cat=10

157 (31.948089599609): select jos_google_plus.link from jos_google_plus where cat=10

158 (30.040740966797): select jos_linkedin.link from jos_linkedin where cat=10

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