Uniform Vibrotactile Rendering in a Haptic Ultrasound Probe

This study investigates the integration of haptic feedback into ultrasound probes to achieve uniform vibrotactile rendering on the grip surface used by clinicians, while minimizing vibrations on the diagnostic surface that contacts the patient. This method enables clinicians to experience consistent vibrotactile feedback regardless of grip variation, preserving measurement accuracy and enhancing patient comfort. Frequency Response Function(FRF) techniques were employed to optimize actuator control, effectively minimizing vibrations on the diagnostic surface and achieving uniform vibrotactile rendering. To validate this approach, a prototype ultrasound probe was fabricated using 3D printing. FRF measurements were taken with a laser Doppler vibrometer, and optimized actuator control signals were applied. Results showed that vibrations on the diagnostic surface remained below the target threshold of 0.2 G, while delivering uniform vibrotactile rendering in the 1 G ~ 2 G range on the grip surface.