Title :
Development of a Robotic Carotid Blood Flow Measurement System - A Compact Ultrasonic Probe Manipulator Consisting of a Parallel Mechanism
Author :
Sadamitsu, Yushi ; Fujita, Ai ; Arino, Chiaki ; Takanishi, Atsuo ; Harada, Akimitsu ; Sugawara, Motoaki ; Niki, Kiyomi
Author_Institution :
Graduate Sch. of Sci. & Eng., Waseda Univ., Tokyo
Abstract :
We developed a robot system for the wave intensity measurement of carotid blood flow using ultrasonic diagnostic equipment in order to reduce the inconvenience for the patient and doctor. The robot system has an ultrasonic probe manipulator consisting of a 6-DOF linear parallel link mechanism. There are two control modes for the robotic measurements: direct positioning by hand using virtual compliance control and remote control by using a 6-axis force/torque sensor. We confirmed that the probe manipulator works effectively to measure the blood flow by experiments using human subjects
Keywords :
biomedical ultrasonics; blood flow measurement; force control; manipulators; medical robotics; position control; torque control; force sensor; linear parallel link mechanism; measurement system; medical robot; parallel mechanism; remote control; robot system; robotic carotid blood flow; torque sensor; ultrasonic diagnostic equipment; ultrasonic probe manipulator; virtual compliance control; wave intensity measurement; Blood flow; Fluid flow measurement; Force control; Force measurement; Manipulators; Parallel robots; Probes; Robot sensing systems; Torque control; Ultrasonic variables measurement; blood flow; medical robot; parallel mechanism; virtual compliance control; wave intensity;
Conference_Titel :
Robotics, Automation and Mechatronics, 2006 IEEE Conference on
Conference_Location :
Bangkok
Print_ISBN :
1-4244-0024-4
Electronic_ISBN :
1-4244-0025-2
DOI :
10.1109/RAMECH.2006.252674
