Document Detail


Development of support system to handle ultrasound probe by coordinated motion with medical robot.
MedLine Citation:
PMID:  22255343     Owner:  NLM     Status:  MEDLINE    
Abstract/OtherAbstract:
We have developed a support system using our ultrasound diagnosis robot, which is able to support manual handling of ultrasound probe in echography to alleviate fatigue of examiner. This system realizes a coordinated motion according to the motion of the probe, which is hold by the robot and is moved by an examiner. We have established four kinds of situations, which are initial fixation, coordinate motions with/without contact on the body surface, and automatic chase motion of an internal organ. The system recognizes when the examiner grasps the ultrasound probe by 6-axis force sensor and touches it on body surface by processing echograms. Not only unskilled examiners but also a professional sonographer have evaluated the performance of the system after elucidating multiple parameters for compliance control and self-weight and moment compensation of the probe. As the results, this system has the potential to be able to support advanced diagnosis for conventional echography.
Authors:
Kohji Masuda; Yuuki Takachi; Yasuhiro Urayama; Takashi Yoshinaga
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Publication Detail:
Type:  Journal Article    
Journal Detail:
Title:  Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Conference     Volume:  2011     ISSN:  1557-170X     ISO Abbreviation:  Conf Proc IEEE Eng Med Biol Soc     Publication Date:  2011  
Date Detail:
Created Date:  2012-01-18     Completed Date:  2012-07-09     Revised Date:  2014-08-21    
Medline Journal Info:
Nlm Unique ID:  101243413     Medline TA:  Conf Proc IEEE Eng Med Biol Soc     Country:  United States    
Other Details:
Languages:  eng     Pagination:  4519-22     Citation Subset:  IM    
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MeSH Terms
Descriptor/Qualifier:
Humans
Motion*
Robotics*
Ultrasonics*

From MEDLINE®/PubMed®, a database of the U.S. National Library of Medicine


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