2A1-L02 超音波検査ロボットにおけるプローブの体表面なぞり走査と取得断層像に基づいたビジュアルサーボ系の構築

概要

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We have developed a scanning method of the ultrasound probe on body surface to construct visual servo system based on acquired echogram by the standalone medical robot, which is developed in our laboratory to move the ultrasound probe on patient abdomen in three-dimension. The visual servo system detects local change of brightness in time series echogram, which is stabilized the position of the probe by conventional force servo system in the robot, to compensate not only periodical respiration motion but also body motion. Then we integrated control method of the visual servo with the force servo as a hybrid control in both of position and force. To confirm the ability to apply for actual abdomen, we experimented the total system to follow the gallbladder as a moving target to keep its position in the echogram by minimizing variation of reaction force on abdomen. As the result, the system has a potential to be applied to automatic detection of human internal organ.
一般社団法人日本機械学会の論文
2009-05-25