Robotic control of therapeutic device on body surface considering contact force and moment

Kaoru Natsume, Shinya Onogi, Takashi Mochizuki, Kohji Masuda

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

Abstract

For ultrasound therapy, e.g. microbubbles delivery, physical contact between therapeutic device and body surface is important. To guarantee the entire contact of the device, we propose a control method considering contact force and reaction moment using a robotic system and sensors. We used a parallel link robot, which has three links and the holder to determine position and angle of the device. First we eliminated self-weight moment of the device using the sensors. Next we established a series of surface contact controls, which consists of (a) initial contact control, (b) balance contact control, and (c) angle restoration control. Then we performed evaluation experiments using soft material and human body. Contacted area was visualized and evaluated with color ink. Convergence time to the desired position and angle was also evaluated while monitoring contact force and moment. We concluded that the determination of appropriate parameters is important and dominant for the quality of the system.

Original languageEnglish
Title of host publicationBMEiCON 2015 - 8th Biomedical Engineering International Conference
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781467391580
DOIs
Publication statusPublished - Feb 4 2016
Event8th Biomedical Engineering International Conference, BMEiCON 2015 - Pattaya, Thailand
Duration: Nov 25 2015Nov 27 2015

Publication series

NameBMEiCON 2015 - 8th Biomedical Engineering International Conference

Other

Other8th Biomedical Engineering International Conference, BMEiCON 2015
CountryThailand
CityPattaya
Period11/25/1511/27/15

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All Science Journal Classification (ASJC) codes

  • Biomedical Engineering

Cite this

Natsume, K., Onogi, S., Mochizuki, T., & Masuda, K. (2016). Robotic control of therapeutic device on body surface considering contact force and moment. In BMEiCON 2015 - 8th Biomedical Engineering International Conference [7399507] (BMEiCON 2015 - 8th Biomedical Engineering International Conference). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/BMEiCON.2015.7399507