الفهرس 
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Abstract
Accurate assessments of the abdomen and interpretations of abdominal pain are difficult, particularly for an inexperienced clinician or nurse. These difficulties are amplified for remote patients who have less access to clinical experts.
This thesis introduces a prototype robotic system that aid radiologists in performing ultrasound tests on patients in remote zones. The research is motivated by the desire to supply health care to all citizens living in distant and isolated places with less access to specialist experts. The system consists of a master-slave robot, the master device situated at the operator area, and a slave robot situated at the patient area. The operator moves the master device to control the position of the ultrasound probe on the patient’s body that fixed inside the slave robot.
Specifically, the master device has 3-Dof and the slave has 3-DoF mechanism to aid the radiologists in performing ultrasound imaging from a remote site.
master is designed with 3-DoF; the structure is light and rigid, providing separate control for each Degree. All degrees are separated from each other. The physician is able to control the situation and direction of the slave remotely that carries ultrasound probe .the design has been implemented and exhibits the abovementioned unique features.
A compact, slave robot with 3-DoF has also been designed; having unique characteristics is similar as in the masters. A prototype of the slave with 3-DoF has been implemented that exhibits all of the master design specifications. Both systems are interfaced to a pc control program. Both designs are kinematically similar, when worked together.