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

doi:10.1109/RAMECH.2006.252674

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

^*Corresponding author for this work

School of Creative Science and Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	2006 IEEE Conference on Robotics, Automation and Mechatronics
DOIs	https://doi.org/10.1109/RAMECH.2006.252674
Publication status	Published - 2006 Dec 1
Event	2006 IEEE Conference on Robotics, Automation and Mechatronics - Bangkok, Thailand Duration: 2006 Jun 7 → 2006 Jun 9

Publication series

Name	2006 IEEE Conference on Robotics, Automation and Mechatronics

Conference

Conference	2006 IEEE Conference on Robotics, Automation and Mechatronics
Country/Territory	Thailand
City	Bangkok
Period	06/6/7 → 06/6/9

Keywords

Blood flow
Medical robot
Parallel mechanism
Virtual compliance control
Wave intensity

ASJC Scopus subject areas

Computer Science(all)
Control and Systems Engineering

Access to Document

10.1109/RAMECH.2006.252674

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

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 et al.

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

Research output: Chapter in Book/Report/Conference proceeding › Conference 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, 2006 IEEE Conference on Robotics, Automation and Mechatronics, Bangkok, Thailand, 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. (2006 IEEE Conference on Robotics, Automation and Mechatronics). doi: 10.1109/RAMECH.2006.252674

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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.",

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

Abstract

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Keywords

ASJC Scopus subject areas

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