UltraGelBot: Autonomous Gel Dispenser for Robotic Ultrasound

However, in these robotic systems, the gel is still model highlighting the components of the UltraGelBot applied by the human attendant. This human intervention between the procedure results in the acquisition of suboptimal The syringe is constrained by the housing to stabilize images due to inappropriate acoustic coupling its linear movement. The syringe has a piston, which [7]. Further, the procedure time also increases as RUS is connected to the moving end of the linear actuator needs to be halted several times in between the procedure (Actuonix L16-P). It will move to compress the piston for manual gel application. Moreover, the presence inside the reservoir and dispense the gel. For refilling, of humans near the patient's vicinity did not achieve the the syringe needs to be detached from the assembly complete safety of the operator, as promised by RUS. and refilled using a commercially used container. Larger Thus, an automated method for dispensing of ultrasound reservoirs may be included in the design in order to gel is the immediate requirement of RUS.