Pulse-echo test for medical imaging ultrasound probe and collaborative robot

1. Introduction
Imaging probes for diagnostic ultrasonography are devices that generate a pressure field into the human body, according to an electrical signal. The differences in acoustic properties of different types of tissue allow the scanner to generate an image of a part of the body, based on the received echo signals. The quality of the resulting image is strictly related to the materials involved in the transducer manufacturing and the understanding of their interactions.

The transducer comprises of a standard piezoelectric ceramic, a hard rubber backing substrate, several (usually from one to four) acoustic matching layers and a silicon rubber lens...

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