1A1-L02 体表面粘弾性に基づいた超音波検査ロボットのインピーダンス制御系の構築(医療・福祉ロボティクス・メカトロニクス)

概要

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In this paper, impedance control system based on viscoelasticity of body surface for robotic echography is constructed. First, we have newly developed a parallel mechanism considering three-dimensional contact force on human body for robotic echography. The robot is designed and simulated the construction of mechanism making the most of our previous robot of twist pantograph mechanism to enhance precision in position, input response and stability. Secondly, we also developed a force sensation unit comprising of two hemispheres to detect three-dimensional contact force on body surface. Then, we have experimented and confirmed to be able to obtain echogram of patient by operation of physician. Finally, from the experimental results, viscoelasticity of body surface is discussed.
一般社団法人日本機械学会の論文
2007-05-11