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

Kaoru Natsume, Shinya Onogi, Takashi Mochizuki, Kohji Masuda

研究成果: 著書/レポートタイプへの貢献会議での発言

抄録

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.

元の言語英語
ホスト出版物のタイトルBMEiCON 2015 - 8th Biomedical Engineering International Conference
出版者Institute of Electrical and Electronics Engineers Inc.
ISBN(電子版)9781467391580
DOI
出版物ステータス出版済み - 2 4 2016
イベント8th Biomedical Engineering International Conference, BMEiCON 2015 - Pattaya, タイ
継続期間: 11 25 201511 27 2015

出版物シリーズ

名前BMEiCON 2015 - 8th Biomedical Engineering International Conference

その他

その他8th Biomedical Engineering International Conference, BMEiCON 2015
タイ
Pattaya
期間11/25/1511/27/15

Fingerprint

Robotics
Sensors
Ink
Restoration
Ultrasonics
Robots
Color
Monitoring
Experiments

All Science Journal Classification (ASJC) codes

  • Biomedical Engineering

これを引用

Natsume, K., Onogi, S., Mochizuki, T., & Masuda, K. (2016). Robotic control of therapeutic device on body surface considering contact force and moment. : 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

Robotic control of therapeutic device on body surface considering contact force and moment. / Natsume, Kaoru; Onogi, Shinya; Mochizuki, Takashi; Masuda, Kohji.

BMEiCON 2015 - 8th Biomedical Engineering International Conference. Institute of Electrical and Electronics Engineers Inc., 2016. 7399507 (BMEiCON 2015 - 8th Biomedical Engineering International Conference).

研究成果: 著書/レポートタイプへの貢献会議での発言

Natsume, K, Onogi, S, Mochizuki, T & Masuda, K 2016, Robotic control of therapeutic device on body surface considering contact force and moment. : BMEiCON 2015 - 8th Biomedical Engineering International Conference., 7399507, BMEiCON 2015 - 8th Biomedical Engineering International Conference, Institute of Electrical and Electronics Engineers Inc., 8th Biomedical Engineering International Conference, BMEiCON 2015, Pattaya, タイ, 11/25/15. https://doi.org/10.1109/BMEiCON.2015.7399507
Natsume K, Onogi S, Mochizuki T, Masuda K. Robotic control of therapeutic device on body surface considering contact force and moment. : BMEiCON 2015 - 8th Biomedical Engineering International Conference. Institute of Electrical and Electronics Engineers Inc. 2016. 7399507. (BMEiCON 2015 - 8th Biomedical Engineering International Conference). https://doi.org/10.1109/BMEiCON.2015.7399507
Natsume, Kaoru ; Onogi, Shinya ; Mochizuki, Takashi ; Masuda, Kohji. / Robotic control of therapeutic device on body surface considering contact force and moment. BMEiCON 2015 - 8th Biomedical Engineering International Conference. Institute of Electrical and Electronics Engineers Inc., 2016. (BMEiCON 2015 - 8th Biomedical Engineering International Conference).
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