Title :
Automatic Control Switching according to Diagnostic Tasks for a Remote Ultrasound Diagnostic System
Author :
Hashizume, Hiroyuki ; Koizumi, Norihiro ; Warisawa, Shin´ichi ; Mitsuishi, Mamoru
Author_Institution :
Sch. of Eng., Tokyo Univ.
Abstract :
A master-slave type remote ultrasound diagnostic system for "aging society" has been developed by the authors. The controller has a variable impedance control capability for the master and slave manipulators\´ positions. First, diagnostic tasks are classified in the remote ultrasound diagnosis. Then, a method to change virtual viscosity automatically according to diagnostic tasks are proposed in the paper. A remote ultrasound diagnostic experiment demonstrated that the medical doctor could perform diagnosis by switching controller automatically in accordance with the recognized diagnostic task
Keywords :
biomedical ultrasonics; manipulators; medical robotics; switching; viscosity; automatic control switching; manipulator position; master-slave type diagnostic system; medical support system; remote ultrasound diagnostic system; switching controller; variable impedance control capability; virtual viscosity; Automatic control; Biomedical imaging; Control systems; Impedance; Master-slave; Medical control systems; Medical diagnostic imaging; Probes; Switches; Ultrasonic imaging;
Conference_Titel :
Biomedical Robotics and Biomechatronics, 2006. BioRob 2006. The First IEEE/RAS-EMBS International Conference on
Conference_Location :
Pisa
Print_ISBN :
1-4244-0040-6
DOI :
10.1109/BIOROB.2006.1639246
