超音波直交二断面画像を用いた空気圧駆動超音波プローブ走査機構による目標物体の追従制御

• 小野木 真哉

• 呉 佳蔚

• 馬場 稔

• 橋爪 誠

• 桝田 晃司

書誌事項

タイトル別名

• Target Following Control by Air-driven Ultrasound Probe Scanning Mechanism using Two Orthogonal Ultrasound Images

抄録

This study describes a visual servo system using biplane ultrasound imaging using a phased array probe which can provide two cross-sectional images in 20 fps. Using the probe, we developed a robotic visual servo system which tracks a target in human body. The probe was attached with the developed robot with six pneumatic actuators. First, a target in the XY and YZ plane is selected as templates. Then, the target 3D position is estimated by template matching of both the XY and YZ images. Finally, the probe is moved to the position. Phantom and porcine liver tests were performed for validation. From the results, the system can track the targets in 1/16 Hz rotation motion with 20 mm diameter.

収録刊行物

• 生体医工学

  生体医工学 53 (Supplement), S207_03-S207_03, 2015

  公益社団法人 日本生体医工学会

詳細情報

• CRID: 1390282680242918784
• NII論文ID: 130005163623
• DOI: 10.11239/jsmbe.53.s207_03
• ISSN: 18814379
• ISSN: 1347443X
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可