Development of assisted-robotic system designed to measure the wave intensity with an ultrasonic diagnostic device

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

研究成果: 著書/レポートタイプへの貢献会議での発言

12 引用 (Scopus)

抄録

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 interventions are generally more effective and less expensive. Recently, the Wave Intensity (WI) has been proposed as a new hemodynamic index that provides information about the dynamic behavior of the heart and the vascular system and their interaction. However; the repetitiveness and accuracy of the WI measurement depend on the precision of the positioning of the ultrasound probe. Therefore a positioning device for ultrasound probe is required. Such a device should not only be used to keep the position but also for the fine positioning of the probe. For this purpose, at Waseda University, we have proposed the development of a robot system to assist a carotid blood flow measurement using ultrasound diagnostic equipments. In this paper, the development of Waseda-Tokyo Women's Medical-Aloka Blood Flow Measurement System No. 1 Refined II (WTA-1RII) is detailed. The system consists of an ultrasound diagnostic device, a 6-DOFs parallel link manipulator, a serial link passive arm, ball joint, and a joystick type controller. The WTA-1RII has improved the design of the gravity compensation mechanism. In addition, a genetic algorithm has by implemented to determine the optimal link's position of the 6-DOFs parallel manipulator to increase the workspace. Finally, a set of experiments were carried out to determine the usability of the proposed system.

元の言語英語
ホスト出版物のタイトル2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
ページ510-515
ページ数6
DOI
出版物ステータス出版済み - 12 11 2009
イベント2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, MO, 米国
継続期間: 10 11 200910 15 2009

出版物シリーズ

名前2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

その他

その他2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
米国
St. Louis, MO
期間10/11/0910/15/09

Fingerprint

Robotics
Ultrasonics
Flow measurement
Manipulators
Blood
Hemodynamics
Gravitation
Genetic algorithms
Robots
Controllers
Experiments

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Control and Systems Engineering

これを引用

Nakadate, R., Uda, H., Hirano, H., Solis, J., Takanishi, A., Minagawa, E., ... Niki, K. (2009). Development of assisted-robotic system designed to measure the wave intensity with an ultrasonic diagnostic device. : 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 (pp. 510-515). [5354555] (2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009). https://doi.org/10.1109/IROS.2009.5354555

Development of assisted-robotic system designed to measure the wave intensity with an ultrasonic diagnostic device. / Nakadate, Ryu; Uda, Hisato; Hirano, Hiroaki; Solis, Jorge; Takanishi, Atsuo; Minagawa, Eiichi; Sugawara, Motoaki; Niki, Kiyomi.

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009. 2009. p. 510-515 5354555 (2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009).

研究成果: 著書/レポートタイプへの貢献会議での発言

Nakadate, R, Uda, H, Hirano, H, Solis, J, Takanishi, A, Minagawa, E, Sugawara, M & Niki, K 2009, Development of assisted-robotic system designed to measure the wave intensity with an ultrasonic diagnostic device. : 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009., 5354555, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, pp. 510-515, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, St. Louis, MO, 米国, 10/11/09. https://doi.org/10.1109/IROS.2009.5354555
Nakadate R, Uda H, Hirano H, Solis J, Takanishi A, Minagawa E その他. Development of assisted-robotic system designed to measure the wave intensity with an ultrasonic diagnostic device. : 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009. 2009. p. 510-515. 5354555. (2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009). https://doi.org/10.1109/IROS.2009.5354555
Nakadate, Ryu ; Uda, Hisato ; Hirano, Hiroaki ; Solis, Jorge ; Takanishi, Atsuo ; Minagawa, Eiichi ; Sugawara, Motoaki ; Niki, Kiyomi. / Development of assisted-robotic system designed to measure the wave intensity with an ultrasonic diagnostic device. 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009. 2009. pp. 510-515 (2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009).
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