Development of a robotic carotid blood flow measurement system - A compact ultrasonic probe manipulator consisting of a parallel mechanism

Yushi Sadamitsu, Ai Fujita, Chiaki Arino, Akimitsu Harada, Atsuo Takanishi, Motoaki Sugawara, Kiyomi Niki

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    11 Citations (Scopus)

    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.

    Original languageEnglish
    Title of host publication2006 IEEE Conference on Robotics, Automation and Mechatronics
    DOIs
    Publication statusPublished - 2006
    Event2006 IEEE Conference on Robotics, Automation and Mechatronics - Bangkok
    Duration: 2006 Jun 72006 Jun 9

    Other

    Other2006 IEEE Conference on Robotics, Automation and Mechatronics
    CityBangkok
    Period06/6/706/6/9

    Fingerprint

    Flow measurement
    Manipulators
    Robotics
    Blood
    Ultrasonics
    Compliance control
    Robots
    End effectors
    Remote control
    Torque
    Sensors
    Experiments

    Keywords

    • Blood flow
    • Medical robot
    • Parallel mechanism
    • Virtual compliance control
    • Wave intensity

    ASJC Scopus subject areas

    • Computer Science(all)
    • Control and Systems Engineering

    Cite this

    Sadamitsu, Y., Fujita, A., Arino, C., Harada, A., Takanishi, A., Sugawara, M., & Niki, K. (2006). Development of a robotic carotid blood flow measurement system - A compact ultrasonic probe manipulator consisting of a parallel mechanism. In 2006 IEEE Conference on Robotics, Automation and Mechatronics [4018790] https://doi.org/10.1109/RAMECH.2006.252674

    Development of a robotic carotid blood flow measurement system - A compact ultrasonic probe manipulator consisting of a parallel mechanism. / Sadamitsu, Yushi; Fujita, Ai; Arino, Chiaki; Harada, Akimitsu; Takanishi, Atsuo; Sugawara, Motoaki; Niki, Kiyomi.

    2006 IEEE Conference on Robotics, Automation and Mechatronics. 2006. 4018790.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Sadamitsu, Y, Fujita, A, Arino, C, Harada, A, Takanishi, A, Sugawara, M & Niki, K 2006, Development of a robotic carotid blood flow measurement system - A compact ultrasonic probe manipulator consisting of a parallel mechanism. in 2006 IEEE Conference on Robotics, Automation and Mechatronics., 4018790, 2006 IEEE Conference on Robotics, Automation and Mechatronics, Bangkok, 06/6/7. https://doi.org/10.1109/RAMECH.2006.252674
    Sadamitsu Y, Fujita A, Arino C, Harada A, Takanishi A, Sugawara M et al. Development of a robotic carotid blood flow measurement system - A compact ultrasonic probe manipulator consisting of a parallel mechanism. In 2006 IEEE Conference on Robotics, Automation and Mechatronics. 2006. 4018790 https://doi.org/10.1109/RAMECH.2006.252674
    Sadamitsu, Yushi ; Fujita, Ai ; Arino, Chiaki ; Harada, Akimitsu ; Takanishi, Atsuo ; Sugawara, Motoaki ; Niki, Kiyomi. / Development of a robotic carotid blood flow measurement system - A compact ultrasonic probe manipulator consisting of a parallel mechanism. 2006 IEEE Conference on Robotics, Automation and Mechatronics. 2006.
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