Development of a robotic carotid blood measurement WTA-1RII: Mechanical improvement of gravity compensation mechanism and optimal link position of the parallel manipulator based on GA

Ryu Nakadate, Hisato Uda, Hiroaki Hirano, Jorge Solis, Atsuo Takanishi, Eiichi Minagawa, Motoaki Sugawara, Kiyomi Niki

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

9 Citations (Scopus)

Abstract

In recent years, due to the increasing rate of elderly people in Japan, the needs to detect adults' diseases at the early stage becomes a high priority. In particular, an increased interest in detecting heart and cerebrovascular diseases at an early stage may allow clinicians to begin treatment sooner (when more treatment options are available), when interventions are generally more effective and less expensive. For this purpose, the introduction of robotic-assisted technology has advantages in terms of repetitiveness and accuracy of the measurement procedure. Therefore, at Waseda University, we have proposed the development of a carotid blood flow measurement system to support doctors while using ultrasound diagnostic equipments to detect arteriosclerosis and myocardial ischemia by measuring wave intensity. In this paper, the Waseda-Tokyo Women's Medical-Aloka Blood Flow Measurement System No. 1 Refined II (WTA-1RII) is detailed. The WTA-1RII is composed by an ultrasound diagnostic system and a probe-supporting robotic device. The robotic device is composed by a parallel link manipulator (for fine adjustment) and a passive arm (for rough positioning). The WTA-1RII has improved the design of the gravity compensation mechanism (composed by a constant force spring attached to a slide guide). In addition, a genetic algorithm has been implemented to determine the optimal link's position of the 6-DOF parallel manipulator to increase the workspace. Finally, a set of experiments were carried out to determine the usability of the proposed system.

Original languageEnglish
Title of host publication2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009
Pages717-722
Number of pages6
DOIs
Publication statusPublished - 2009 Nov 4
Event2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009 - Singapore, Singapore
Duration: 2009 Jul 142009 Jul 17

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Conference

Conference2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009
CountrySingapore
CitySingapore
Period09/7/1409/7/17

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Science Applications
  • Electrical and Electronic Engineering

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    Nakadate, R., Uda, H., Hirano, H., Solis, J., Takanishi, A., Minagawa, E., Sugawara, M., & Niki, K. (2009). Development of a robotic carotid blood measurement WTA-1RII: Mechanical improvement of gravity compensation mechanism and optimal link position of the parallel manipulator based on GA. In 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009 (pp. 717-722). [5229928] (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM). https://doi.org/10.1109/AIM.2009.5229928