遠隔超音波診断システムの構築法に関する研究

• 小泉 憲裕

  東京大学大学院工学系研究科

• 割澤 伸一

  東京大学大学院工学系研究科

• 名越 充

  名越整形外科医院

• 橋詰 博行

  笠岡第一病院

• 光石 衛

  東京大学大学院工学系研究科

書誌事項

タイトル別名

• A Study on the Construction Methodology of Remote Ultrasound Diagnostic System
• エンカク チョウオンパ シンダン システム ノ コウチクホウ ニ カンスル ケンキュウ

抄録

Remote diagnosis can be realized using communication network. We have been developed a master-slave type remote medical system for the diagnosis of the shoulder disease such as dialysis related amyloid arthropathy (DRAA) by ultrasonographic images. Proper position, orientation, and contact force between the ultrasound probe and the affected part of the patient should be required to acquire proper diagnostic images in the diagnosis. Safety and manipulability are also required to construct the remote medical system through the communication network. Then, it has impedance control capability for the master and slave manipulators' positions to display contact force and enhance manipulability. And it has Continuous Path control capability for the slave manipulator's orientation to realize the smooth and accurate motion of the ultrasound probe even if it is difficult to transmit control data at high sampling rate through the communication network. The results of the remote diagnostic experiments demonstrated that the healthcare professionals could perform the diagnosis for the real patients through the communication network using the constructed system.

収録刊行物

• 日本ロボット学会誌

  日本ロボット学会誌 25 (2), 267-279, 2007

  一般社団法人 日本ロボット学会

キーワード

• Remote Ultrasound Diagnostic System
• Master Slave Manipulation
• Impedance Control
• Contimuous Path Control

詳細情報

• CRID: 1390001204726875392
• NII論文ID: 10018869656
• NII書誌ID: AN00141189
• DOI: 10.7210/jrsj.25.267
• ISSN: 18847145
• ISSN: 02891824
• NDL書誌ID: 8747957
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I8747957
• 本文言語コード: ja
• データソース種別:
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  • NDL
  • Crossref
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  • KAKEN
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