2A1-T02 人とロボットの協調動作による超音波診断・治療補助アプローチ方法の検討(人間機械協調)

• 田中 優斗

  沼津高専専攻科

• 西村 和真

  沼津高専専攻科

• 脇坂 久

  沼津高専専攻科

• 青木 悠祐

  沼津高専

書誌事項

タイトル別名

• 2A1-T02 Examination of the Diagnosis and Treatment Support Approach of Robotic-echography with Cooperative Motion(Cooperation between Human and Machine)

抄録

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 current pressing solution to help reduce loads on medical doctors. On other hand, actual diagnosis should be holding a Probe at same position for a long time. So, in this paper, we have developed the ultrasound diagnostic and treatment support robot system to actuate probe for doctor and ultra-sonographer. Therefore, we constructed a new haptic control system to operate on the basis of the 6-axis force sensor value that is attached to the root of the Probe. Then, we confirmed its system response and the measurement accuracy of the tip coordinates, and validated the validity of the measurement. Finally, we conducted an experiment to maintain body surface contact state to follow the body motion, and confirmed the effectiveness of system.

収録刊行物

• ロボティクス・メカトロニクス講演会講演概要集

  ロボティクス・メカトロニクス講演会講演概要集 2014 (0), _2A1-T02_1-_2A1-T02_4, 2014

  一般社団法人 日本機械学会

キーワード

• Robotic-echography
• Hybrid control
• Cooperative Motion
• Reaction force measurement

詳細情報

• CRID: 1390001205939132416
• NII論文ID: 110009968899
• DOI: 10.1299/jsmermd.2014._2a1-t02_1
• ISSN: 24243124
• Web Site: https://www.jstage.jst.go.jp/article/jsmermd/2014/0/2014__2A1-T02_1/_pdf
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可