3P1-B01 超音波診断・治療補助ロボットReDATによるプローブ走査のためのワイヤ駆動制御系の構築(医療ロボティクス・メカトロニクス(2))

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  • 3P1-B01 Construction of Wire Drive Control System for Robotic-echography(Medical Robotics and Mechatronics (2))

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Among various medical problems facing us in today's Japan are rapidly aging society, localization of medical doctors, concentrated visits of patients to large hospitals, etc. Development of diagnostic and treatment support systems is considered a solution to a pressing problem to help reduce loads on medical doctors. So, we have developed the ReDAT (Robotic-echography for Diagnostic and Treatment support system) to be able to diagnose by cooperative operation. However, the conventional system is not implemented yet the angle control system and probe pivot manipulation. Therefore, in this paper, we have constructed the position and angle control system for probe pivot manipulation. The mechanism for angle control is required to be small in size and light in weight, so that the position and control system works high accuracy and high-speed. Then, we have developed the mechanism using a wire drive, and performed experiments to confirm the accuracy and responsiveness.

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