空気圧アクチュエータを用いた超音波プローブ走査機構の開発と撮像断面の位置制御

概要

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Pneumatic actuator is low-weight, high-power and has backdrivability. In applications of the field of medicine, mechanisms using pneumatic actuators are studied for images acquisition. In images acquisition, ultrasound is non-invasive and enables to present the relative position between a therapeutic tool and organ etc. to physician in quasi-real-time. However, an ultrasound probe has individual specificity. Therefore, the relative position between the probe and an echogram was unclear and acquiring optional images of target object was difficult. Thus, we address the problem by 3-D image plane positioning method. In this study, we develop a probe scan mechanism for echography using pneumatic actuators and evaluate that basic performance of a position control accuracy of an image plane.
一般社団法人日本ロボット学会の論文