4340 超音波RF信号を用いた腎臓結石の追従精度向上に関する研究(S69-2 医療ロボット(2),S69 医療ロボット)

概要

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For non-invasive 3D tracking of a target deep within a body, ultrasound-based visual servoing system is proposed. The ultrasound-based visual servoing system uses an ultrasound scanner for visual sensing. Two ultrasound probes equipped on the ultrasound scanner are located at the end-effector of a XYZ stage machine, and their scan planes parallel with XZ plane and YZ plane of the XYZ stage machine. The two sectional images of a target object in scan images of two ultrasound probes are registered as model images for pattern matching algorithm, respectively. 3D movement of the target object is sensed by pattern matching of the model images in input scan images. Displacement of the target between two successive frames decreases the accuracy of pattern matching. Therefore, scanning frame rate should be high enough to maintain the displacement of the target below threshold. Frame rate of ultrasound probes is adjustable through changing the view angle. Therefore, echo signals of ultrasound probes are used directly. Moreover, in order to save processing cost, image-based control method is used.
社団法人日本機械学会の論文
2007-09-07