Design, simulation, and kinematic analysis of a manipulator-based 3D position tracking system

In recent decades, the use of three-dimensional ultrasound (3DUS) imaging of organs has been growing rapidly compared to its two-dimensional ultrasound (2DUS) type. The use of freehand technique in 3DUS system may help to improve the natural flexibility performance. To realize a 3DUS freehand imaging, a position tracking system which measures the US probe position in real time is added. The design, simulation, and analysis of a new 6 degree-of-freedom (6DOF) manipulator-based position tracking system for 3DUS probe are presented in this paper. The forward kinematics of the manipulator was calculated using the Denavit-Hartenberg (D-H) convention. The position of end-effector, which represented the US probe position, was then measured using the joint parameters. The mathematical equations were then verified using Robotic Toolbox in MATLAB as the simulation software. The results of both simulation and equation verified the validity of the kinematic equations.