Development of a robotic carotid blood measurement WTA-1RII: Mechanical improvement of gravity compensation mechanism and optimal link position of the parallel manipulator based on GA

Ryu Nakadate, Hisato Uda, Hiroaki Hirano, Jorge Solis, Atsuo Takanishi, Eiichi Minagawa, Motoaki Sugawara, Kiyomi Niki

Research output: Chapter in Book/Report/Conference proceedingConference contribution

9 Citations (Scopus)

Abstract

In recent years, due to the increasing rate of elderly people in Japan, the needs to detect adults' diseases at the early stage becomes a high priority. In particular, an increased interest in detecting heart and cerebrovascular diseases at an early stage may allow clinicians to begin treatment sooner (when more treatment options are available), when interventions are generally more effective and less expensive. For this purpose, the introduction of robotic-assisted technology has advantages in terms of repetitiveness and accuracy of the measurement procedure. Therefore, at Waseda University, we have proposed the development of a carotid blood flow measurement system to support doctors while using ultrasound diagnostic equipments to detect arteriosclerosis and myocardial ischemia by measuring wave intensity. In this paper, the Waseda-Tokyo Women's Medical-Aloka Blood Flow Measurement System No. 1 Refined II (WTA-1RII) is detailed. The WTA-1RII is composed by an ultrasound diagnostic system and a probe-supporting robotic device. The robotic device is composed by a parallel link manipulator (for fine adjustment) and a passive arm (for rough positioning). The WTA-1RII has improved the design of the gravity compensation mechanism (composed by a constant force spring attached to a slide guide). In addition, a genetic algorithm has been implemented to determine the optimal link's position of the 6-DOF parallel manipulator to increase the workspace. Finally, a set of experiments were carried out to determine the usability of the proposed system.

Original languageEnglish
Title of host publication2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009
Pages717-722
Number of pages6
DOIs
Publication statusPublished - Nov 4 2009
Event2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009 - Singapore, Singapore
Duration: Jul 14 2009Jul 17 2009

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Other

Other2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009
CountrySingapore
CitySingapore
Period7/14/097/17/09

Fingerprint

Manipulators
Gravitation
Robotics
Blood
Flow measurement
Ultrasonics
Genetic algorithms
Compensation and Redress
Experiments

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Computer Science Applications
  • Electrical and Electronic Engineering

Cite this

Nakadate, R., Uda, H., Hirano, H., Solis, J., Takanishi, A., Minagawa, E., ... Niki, K. (2009). Development of a robotic carotid blood measurement WTA-1RII: Mechanical improvement of gravity compensation mechanism and optimal link position of the parallel manipulator based on GA. In 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009 (pp. 717-722). [5229928] (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM). https://doi.org/10.1109/AIM.2009.5229928

Development of a robotic carotid blood measurement WTA-1RII : Mechanical improvement of gravity compensation mechanism and optimal link position of the parallel manipulator based on GA. / Nakadate, Ryu; Uda, Hisato; Hirano, Hiroaki; Solis, Jorge; Takanishi, Atsuo; Minagawa, Eiichi; Sugawara, Motoaki; Niki, Kiyomi.

2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009. 2009. p. 717-722 5229928 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Nakadate, R, Uda, H, Hirano, H, Solis, J, Takanishi, A, Minagawa, E, Sugawara, M & Niki, K 2009, Development of a robotic carotid blood measurement WTA-1RII: Mechanical improvement of gravity compensation mechanism and optimal link position of the parallel manipulator based on GA. in 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009., 5229928, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, pp. 717-722, 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009, Singapore, Singapore, 7/14/09. https://doi.org/10.1109/AIM.2009.5229928
Nakadate R, Uda H, Hirano H, Solis J, Takanishi A, Minagawa E et al. Development of a robotic carotid blood measurement WTA-1RII: Mechanical improvement of gravity compensation mechanism and optimal link position of the parallel manipulator based on GA. In 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009. 2009. p. 717-722. 5229928. (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM). https://doi.org/10.1109/AIM.2009.5229928
Nakadate, Ryu ; Uda, Hisato ; Hirano, Hiroaki ; Solis, Jorge ; Takanishi, Atsuo ; Minagawa, Eiichi ; Sugawara, Motoaki ; Niki, Kiyomi. / Development of a robotic carotid blood measurement WTA-1RII : Mechanical improvement of gravity compensation mechanism and optimal link position of the parallel manipulator based on GA. 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009. 2009. pp. 717-722 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM).
@inproceedings{e95a55de455c45418f7106565a303023,
title = "Development of a robotic carotid blood measurement WTA-1RII: Mechanical improvement of gravity compensation mechanism and optimal link position of the parallel manipulator based on GA",
abstract = "In recent years, due to the increasing rate of elderly people in Japan, the needs to detect adults' diseases at the early stage becomes a high priority. In particular, an increased interest in detecting heart and cerebrovascular diseases at an early stage may allow clinicians to begin treatment sooner (when more treatment options are available), when interventions are generally more effective and less expensive. For this purpose, the introduction of robotic-assisted technology has advantages in terms of repetitiveness and accuracy of the measurement procedure. Therefore, at Waseda University, we have proposed the development of a carotid blood flow measurement system to support doctors while using ultrasound diagnostic equipments to detect arteriosclerosis and myocardial ischemia by measuring wave intensity. In this paper, the Waseda-Tokyo Women's Medical-Aloka Blood Flow Measurement System No. 1 Refined II (WTA-1RII) is detailed. The WTA-1RII is composed by an ultrasound diagnostic system and a probe-supporting robotic device. The robotic device is composed by a parallel link manipulator (for fine adjustment) and a passive arm (for rough positioning). The WTA-1RII has improved the design of the gravity compensation mechanism (composed by a constant force spring attached to a slide guide). In addition, a genetic algorithm has been implemented to determine the optimal link's position of the 6-DOF parallel manipulator to increase the workspace. Finally, a set of experiments were carried out to determine the usability of the proposed system.",
author = "Ryu Nakadate and Hisato Uda and Hiroaki Hirano and Jorge Solis and Atsuo Takanishi and Eiichi Minagawa and Motoaki Sugawara and Kiyomi Niki",
year = "2009",
month = "11",
day = "4",
doi = "10.1109/AIM.2009.5229928",
language = "English",
isbn = "9781424428533",
series = "IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM",
pages = "717--722",
booktitle = "2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009",

}

TY - GEN

T1 - Development of a robotic carotid blood measurement WTA-1RII

T2 - Mechanical improvement of gravity compensation mechanism and optimal link position of the parallel manipulator based on GA

AU - Nakadate, Ryu

AU - Uda, Hisato

AU - Hirano, Hiroaki

AU - Solis, Jorge

AU - Takanishi, Atsuo

AU - Minagawa, Eiichi

AU - Sugawara, Motoaki

AU - Niki, Kiyomi

PY - 2009/11/4

Y1 - 2009/11/4

N2 - In recent years, due to the increasing rate of elderly people in Japan, the needs to detect adults' diseases at the early stage becomes a high priority. In particular, an increased interest in detecting heart and cerebrovascular diseases at an early stage may allow clinicians to begin treatment sooner (when more treatment options are available), when interventions are generally more effective and less expensive. For this purpose, the introduction of robotic-assisted technology has advantages in terms of repetitiveness and accuracy of the measurement procedure. Therefore, at Waseda University, we have proposed the development of a carotid blood flow measurement system to support doctors while using ultrasound diagnostic equipments to detect arteriosclerosis and myocardial ischemia by measuring wave intensity. In this paper, the Waseda-Tokyo Women's Medical-Aloka Blood Flow Measurement System No. 1 Refined II (WTA-1RII) is detailed. The WTA-1RII is composed by an ultrasound diagnostic system and a probe-supporting robotic device. The robotic device is composed by a parallel link manipulator (for fine adjustment) and a passive arm (for rough positioning). The WTA-1RII has improved the design of the gravity compensation mechanism (composed by a constant force spring attached to a slide guide). In addition, a genetic algorithm has been implemented to determine the optimal link's position of the 6-DOF parallel manipulator to increase the workspace. Finally, a set of experiments were carried out to determine the usability of the proposed system.

AB - In recent years, due to the increasing rate of elderly people in Japan, the needs to detect adults' diseases at the early stage becomes a high priority. In particular, an increased interest in detecting heart and cerebrovascular diseases at an early stage may allow clinicians to begin treatment sooner (when more treatment options are available), when interventions are generally more effective and less expensive. For this purpose, the introduction of robotic-assisted technology has advantages in terms of repetitiveness and accuracy of the measurement procedure. Therefore, at Waseda University, we have proposed the development of a carotid blood flow measurement system to support doctors while using ultrasound diagnostic equipments to detect arteriosclerosis and myocardial ischemia by measuring wave intensity. In this paper, the Waseda-Tokyo Women's Medical-Aloka Blood Flow Measurement System No. 1 Refined II (WTA-1RII) is detailed. The WTA-1RII is composed by an ultrasound diagnostic system and a probe-supporting robotic device. The robotic device is composed by a parallel link manipulator (for fine adjustment) and a passive arm (for rough positioning). The WTA-1RII has improved the design of the gravity compensation mechanism (composed by a constant force spring attached to a slide guide). In addition, a genetic algorithm has been implemented to determine the optimal link's position of the 6-DOF parallel manipulator to increase the workspace. Finally, a set of experiments were carried out to determine the usability of the proposed system.

UR - http://www.scopus.com/inward/record.url?scp=70350457747&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=70350457747&partnerID=8YFLogxK

U2 - 10.1109/AIM.2009.5229928

DO - 10.1109/AIM.2009.5229928

M3 - Conference contribution

AN - SCOPUS:70350457747

SN - 9781424428533

T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

SP - 717

EP - 722

BT - 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009

ER -