This project aims to develop an automatic robotic ultrasound scanning approach based on the 3D spatial information of a depth camera. The corresponding robot kinematics shall be optimized based on the scanning strategy and force control requirement from a clinical point of view.
Task:
Integrate depth camera with KUKA robot arm, install and calibrate. Path planning based on the 3D depth map captured by depth camera. Robot kinematics optimization towards optimized force control and effective scanning trajectory.
Experiments and tests.