2A2-G28 遠隔救急治療のための体幹装着型ポータブル超音波診断ロボットFASTeleの操作インタフェースに関する検討

概要

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We developed portable four-DOF robot, which named FASTele, allows physicians at hospital to give FAST diagnosis for patients at remote site. There were hardly any research about control interfaces for robots which have few DOF, so we newly developed two different types of control interface for FASTele, namely, Master-Slave Interface(MSI) and Graphic User Interface(GUI). We evaluated efficiency of developed interfaces. Result showed necessary time for ultrasound image description and accuracy of ultrasound image didn't have significant differences, but workload of MSI was significantly lower than those GUI.
一般社団法人日本機械学会の論文