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 Dec 1
Event2006 IEEE Conference on Robotics, Automation and Mechatronics - Bangkok, Thailand
Duration: 2006 Jun 72006 Jun 9

Publication series

Name2006 IEEE Conference on Robotics, Automation and Mechatronics

Conference

Conference2006 IEEE Conference on Robotics, Automation and Mechatronics
CountryThailand
CityBangkok
Period06/6/706/6/9

Keywords

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

ASJC Scopus subject areas

  • Computer Science(all)
  • Control and Systems Engineering

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  • 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] (2006 IEEE Conference on Robotics, Automation and Mechatronics). https://doi.org/10.1109/RAMECH.2006.252674