Contact force control of therapeutic ultrasound device on body surface using parallel link robot

Kaoru Natsume; Sachie Irisawa; Shinya Onogi; Kohji Masuda

doi:10.11239/jsmbe.52.O-307

Contact force control of therapeutic ultrasound device on body surface using parallel link robot

Kaoru Natsume, Sachie Irisawa, Shinya Onogi, Kohji Masuda

Research output: Contribution to journal › Article › peer-review

Abstract

Acoustic microbubble delivery system (MDS) in blood vessel has a great potential to improve the efficiency of highintensity focused ultrasound ablation or realize active drug/gene delivery. In MDS, injected microbubbles are induced, aggregated, and trapped by ultrasound which is emitted from ultrasound transducers placed on a patient's body. One key of MDS is accurate positioning of a transducer. Therefore, we developed a robotic system for transducer positioning. To apply the system for MDS in vivo, contact force control between a body and a transducer is important. In this paper, we developed a control method of both contact force and a sound axis direction of a transducer, and the method was evaluated by three human subjects. From the results, contact forces were kept within 1-6 N range with 3.0 mm positioning errors, approximately. We confirmed that the force control has acceptable performance to place an ultrasound transducer on a patient.

Original language	English
Pages (from-to)	O-307-O-308
Journal	Transactions of Japanese Society for Medical and Biological Engineering
Volume	52
DOIs	https://doi.org/10.11239/jsmbe.52.O-307
Publication status	Published - Aug 17 2014
Externally published	Yes

All Science Journal Classification (ASJC) codes

Biomedical Engineering

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abstract = "Acoustic microbubble delivery system (MDS) in blood vessel has a great potential to improve the efficiency of highintensity focused ultrasound ablation or realize active drug/gene delivery. In MDS, injected microbubbles are induced, aggregated, and trapped by ultrasound which is emitted from ultrasound transducers placed on a patient's body. One key of MDS is accurate positioning of a transducer. Therefore, we developed a robotic system for transducer positioning. To apply the system for MDS in vivo, contact force control between a body and a transducer is important. In this paper, we developed a control method of both contact force and a sound axis direction of a transducer, and the method was evaluated by three human subjects. From the results, contact forces were kept within 1-6 N range with 3.0 mm positioning errors, approximately. We confirmed that the force control has acceptable performance to place an ultrasound transducer on a patient.",

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AU - Irisawa, Sachie

AU - Onogi, Shinya

AU - Masuda, Kohji

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