パラレルリンクロボットを用いた患者体表面における超音波治療器具の面接触制御  [in Japanese] Surface contact control of ultrasonic therapy device on patient body surface using parallel-link robot  [in Japanese]

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Author(s)

    • 夏目 薫 Natsume Kaoru
    • 東京農工大学大学院生物システム応用科学府 Graduate School of Bio-Applications and Systems Engineering, Tokyo Univ. of Agriculture and Technology
    • 和田 義久 Wada Yoshihisa
    • 東京農工大学大学院生物システム応用科学府 Graduate School of Bio-Applications and Systems Engineering, Tokyo Univ. of Agriculture and Technology
    • 望月 剛 Mochizuki Takashi
    • 東京農工大学大学院生物システム応用科学府 Graduate School of Bio-Applications and Systems Engineering, Tokyo Univ. of Agriculture and Technology
    • 桝田 晃司 Masuda Kohji
    • 東京農工大学大学院生物システム応用科学府 Graduate School of Bio-Applications and Systems Engineering, Tokyo Univ. of Agriculture and Technology

Abstract

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 established a series of surface contact controls, which consists of (a) initial contact control, (b) balance contact control, and (c) angle restoration control. Second we eliminated self-weight moment of the device using the sensors. Next we proposed a measurement method of elasticity coefficient of soft material. Then we performed evaluation experiments using soft material and human body. In the experiment using soft material, contacted area was visualized and evaluated with color ink. In the experiment using human body, 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.

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 established a series of surface contact controls, which consists of (a) initial contact control, (b) balance contact control, and (c) angle restoration control. Second we eliminated self-weight moment of the device using the sensors. Next we proposed a measurement method of elasticity coefficient of soft material. Then we performed evaluation experiments using soft material and human body. In the experiment using soft material, contacted area was visualized and evaluated with color ink. In the experiment using human body, 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.

Journal

  • Journal of Japan Society of Computer Aided Surgery

    Journal of Japan Society of Computer Aided Surgery 17(4), 343-354, 2016

    The Japan Society of Computer Aided Surgery

Codes

  • NII Article ID (NAID)
    130005145799
  • NII NACSIS-CAT ID (NCID)
    AN1044100X
  • Text Lang
    JPN
  • ISSN
    1344-9486
  • NDL Article ID
    027102030
  • NDL Call No.
    Z74-B824
  • Data Source
    NDL  J-STAGE 
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