Development of a robot assisted carotid blood flow measurement system

Ryu Nakadate, Yoshiki Matsunaga, Jorge Solis, Atsuo Takanishi, Eiichi Minagawa, Motoaki Sugawara, Kiyomi Niki

    Research output: Contribution to journalArticle

    13 Citations (Scopus)

    Abstract

    The ultrasound diagnosis of the carotid artery is one of the most common non-invasive methods to detect early stage heart and cerebrovascular diseases. However, the precision and repetitiveness of the probe positioning depend exclusively on the operator's skills and dexterity. For this purpose, we propose the development of a robot assisted system to enhance the accuracy and repetitiveness of the probe positioning to measure the wave intensity (WI) index. In this paper, the Waseda-Tokyo Women's Medical-Aloka Blood Flow Measurement Robot System No. 2 Refined (WTA-2R) is presented. The WTA-2R consists of a conventional ultrasound diagnosis system, a 6-DOFs parallel link slave manipulator, a 6-DOFs serial link passive arm, and a master device. Experiments were carried out to verify its effectiveness in terms of accuracy and required time to perform the task. From the experimental results, the positioning accuracy and reduction of required time were confirmed.

    Original languageEnglish
    Pages (from-to)1066-1083
    Number of pages18
    JournalMechanism and Machine Theory
    Volume46
    Issue number8
    DOIs
    Publication statusPublished - 2011 Aug

    Fingerprint

    Flow measurement
    Blood
    Ultrasonics
    Robots
    Manipulators
    Experiments

    Keywords

    • Genetic Algorithm
    • Medical robotics
    • Parallel mechanism
    • Wave intensity index

    ASJC Scopus subject areas

    • Mechanical Engineering
    • Mechanics of Materials
    • Computer Science Applications
    • Bioengineering

    Cite this

    Development of a robot assisted carotid blood flow measurement system. / Nakadate, Ryu; Matsunaga, Yoshiki; Solis, Jorge; Takanishi, Atsuo; Minagawa, Eiichi; Sugawara, Motoaki; Niki, Kiyomi.

    In: Mechanism and Machine Theory, Vol. 46, No. 8, 08.2011, p. 1066-1083.

    Research output: Contribution to journalArticle

    Nakadate, R, Matsunaga, Y, Solis, J, Takanishi, A, Minagawa, E, Sugawara, M & Niki, K 2011, 'Development of a robot assisted carotid blood flow measurement system', Mechanism and Machine Theory, vol. 46, no. 8, pp. 1066-1083. https://doi.org/10.1016/j.mechmachtheory.2011.03.008
    Nakadate, Ryu ; Matsunaga, Yoshiki ; Solis, Jorge ; Takanishi, Atsuo ; Minagawa, Eiichi ; Sugawara, Motoaki ; Niki, Kiyomi. / Development of a robot assisted carotid blood flow measurement system. In: Mechanism and Machine Theory. 2011 ; Vol. 46, No. 8. pp. 1066-1083.
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