Towards Soft-robotic Assistance of Ultrasonic Imaging

Sonography plays a critical role in diagnosing various health conditions, but operator-dependent limitations impact imaging quality and consistency. Robotic scanning has emerged as a solution to enhance imaging consistency while reducing operator dependency. This paper presents a compliant soft robotic gripper designed to assist in sonography procedures using hyperelastic materials. The gripper design features four channels with five inflatable strips per channel constructed with Polydimethylsiloxane (PDMS), allowing for spatial bending when pressurized. Fabrication involves CAD modelling, 3D printing, and silicon casting method-based curing and finally sealed with fabric and silicon. Experimental results demonstrate the gripper's capability, with a single channel achieving a deflection of approximately 57 degrees. Further optimization of channel length, number of channels, and number of strip configurations and their design is required through analytical or simulation work. The study showcases the feasibility of integrating soft robotics into medical imaging, potentially revolutionizing sonography practices and patient care.