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. 2021 Feb 22;2(1):55–71. doi: 10.1007/s43154-020-00037-y

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© The Author(s) 2021

Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if changes were made. The images or other third party material in this article are included in the article's Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article's Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this licence, visit http://creativecommons.org/licenses/by/4.0/.

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Fig. 2 — Overview of system components for collaborative assisting robotic ultrasound systems. a The STRATUS system including a UR5 robot and an ultrasound probe interconnected by a six DOF force-torque sensor (copyright © [2016] IEEE. Reprinted with permission from [35]). b Near infrared imaging sensors combined with an ultrasound probe for bimodal vessel imaging in the forearm to guide venipuncture (reproduced from [37•] with permission from Springer Nature). c Setup for a flexible needle steering system of two Viper s650 robots (Adept) with needle holder and ultrasound probe (copyright © [2015] IEEE. Reprinted with permission from [38]). d LBR iiwa robot with ultrasound probe on custom mount with needle holder used for facet joint insertion (reproduced from [39•] with permission from Springer Nature)