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Actively Compliant Parallel End-Effector Mechanism for Medical Interventions

Award Information
Agency: Department of Defense
Branch: Army
Contract: W81XWH-10-C-0190
Agency Tracking Number: O2-1052
Amount: $749,879.00
Phase: Phase II
Program: SBIR
Solicitation Topic Code: OSD09-H09
Solicitation Number: 2009.3
Solicitation Year: 2009
Award Year: 2011
Award Start Date (Proposal Award Date): 2011-06-16
Award End Date (Contract End Date): N/A
Small Business Information
303 Bear Hill Road
Waltham, MA -
United States
DUNS: 004627316
HUBZone Owned: No
Woman Owned: No
Socially and Economically Disadvantaged: No
Principal Investigator
 James Goldie
 Principal Engineer
 (781) 890-1338
Business Contact
 Stephen Mattox
Title: Director, Finance and Con
Phone: (781) 890-1338
Research Institution

Robot-assisted surgery and envisioned diagnostics require the clinician to rely almost solely on visual feedback, pointing to the need for solutions to ensure that contact forces with the anatomy are maintained at clinically safe and effective levels at all times. A 6 degree-of-freedom (DOF) Active Compliance End-effector (ACE) is proposed that is capable of counter-movements in real-time to automatically regulate contact forces in the presence of both patient body-surface movements and motion of the clinical device. The focus in Phase II will be on ACE for robot-assisted ultrasonic imaging to enable rapid and effective triage of trauma victims at forward medical facilities or in mass casualty scenarios, where trained sonographers are not available in adequate numbers. Infoscitex has assembled a distinguished team of clinical, academic and industrial experts to undertake this development. After preliminary experiments to establish force and motion requirements, a prototype 6 DOF ACE will be integrated with an ultrasound transducer, a motion control device and, later, a serial link arm, in order to conduct representative tests with phantoms and fresh animal cadavers. Test will demonstrate active compliance/force regulation, the capacity to detect blood in the peritoneum, and preliminary indications of the benefits of ACE-based, robot-assisted ultrasound imaging.

* Information listed above is at the time of submission. *

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