2P1-C09 電動/空気圧ハイブリッド駆動型超音波診断・治療補助ロボットシステムの構築(医療ロボティクス・メカトロニクス)

概要

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One of medical issues of our country is not only increase of patient but also relative decrease of doctor by super-aging society. Diagnosis and Treatment support system is necessary to reduce the doctor's load. So, in this paper, we purpose the development of the diagnosis and treatment support system for Robotic echography. It is needed to workings high accuracy, high-speed and workings by extending to the large range to some degree. Then, we have developed hybrid pneumatic and electric Serial link type robot. Then, the range of the part that assumes various patient of body type that is diagnosed has been decided, and the length of the robot arm that can be worked had been decided, and the range has been simulated by the inverse kinematics. we established a hybrid system of them to examine the relation between electric, pneumatic and hybrid actuator. Then we found out that the advantages of electric actuator which that has good response and high-accuracy positioning can cover the faults of pneumatic actuator which that has bad response and bad-accuracy positioning.
一般社団法人日本機械学会の論文
2011-05-26