Development of robot assisted measurement system for abdominal ultrasound diagnosis

Ryu Nakadate, Yasuaki Tokunaga, Jorge Solis, Atsuo Takanishi, Eiichi Minagawa, Motoaki Sugawara, Kiyomi Niki, Akiko Saito

研究成果: Chapter in Book/Report/Conference proceedingConference contribution

12 被引用数 (Scopus)

抄録

In the medical literature, the ultrasound diagnosis is a quite well user-friendly method due to its non-invasiveness, portability and real-time imaging capabilities. Recently, some fatigue issues (including musculoskeletal injuries) with sonographers have been reported. Most of those issues are mainly due to the physical stress on the sonographers during their considerably long time task. During the diagnosis, the sonographers usually hold their wrist without touching the patients. Moreover, they are sometimes required to apply a force for the probe to push abdomen of the patients in order to obtain clearer ultrasound image. Therefore, our research aims in developing a probe supporting robot to reduce the fatigue of sonographers during the abdominal diagnosis. In this paper, we describe the design of the Waseda-Tokyo Women's Medical-Aloka System No. 2 (WTA-2) which is composed of an ultrasound diagnosis system, an actuated 3-DOFs robot arm with two different interchangeable end-effectors. One is for power assist of applied force, and the other is for supporting sonographer's wrist. The design of the robot, a force sensing method using photo sensors and the control of the robot are detailed. A set of experiments were carried out in order to verify the effectiveness of the proposed system to support sonographers while performing the diagnosis.

本文言語英語
ホスト出版物のタイトル2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010
ページ367-372
ページ数6
DOI
出版ステータス出版済み - 12 27 2010
外部発表はい
イベント2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010 - Tokyo, 日本
継続期間: 9 26 20109 29 2010

出版物シリーズ

名前2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010

その他

その他2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010
Country日本
CityTokyo
Period9/26/109/29/10

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Biomedical Engineering

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