Development of assisted-robotic system designed to measure the wave intensity with an ultrasonic diagnostic device

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

    12 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 interventions are generally more effective and less expensive. Recently, the Wave Intensity (WI) has been proposed as a new hemodynamic index that provides information about the dynamic behavior of the heart and the vascular system and their interaction. However; the repetitiveness and accuracy of the WI measurement depend on the precision of the positioning of the ultrasound probe. Therefore a positioning device for ultrasound probe is required. Such a device should not only be used to keep the position but also for the fine positioning of the probe. For this purpose, at Waseda University, we have proposed the development of a robot system to assist a carotid blood flow measurement using ultrasound diagnostic equipments. In this paper, the development of Waseda-Tokyo Women's Medical-Aloka Blood Flow Measurement System No. 1 Refined II (WTA-1RII) is detailed. The system consists of an ultrasound diagnostic device, a 6-DOFs parallel link manipulator, a serial link passive arm, ball joint, and a joystick type controller. The WTA-1RII has improved the design of the gravity compensation mechanism. In addition, a genetic algorithm has by implemented to determine the optimal link's position of the 6-DOFs 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/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
    Pages510-515
    Number of pages6
    DOIs
    Publication statusPublished - 2009 Dec 11
    Event2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, MO
    Duration: 2009 Oct 112009 Oct 15

    Other

    Other2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
    CitySt. Louis, MO
    Period09/10/1109/10/15

    Fingerprint

    Robotics
    Ultrasonics
    Flow measurement
    Manipulators
    Blood
    Hemodynamics
    Gravitation
    Genetic algorithms
    Robots
    Controllers
    Experiments

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Computer Vision and Pattern Recognition
    • Human-Computer Interaction
    • Control and Systems Engineering

    Cite this

    Nakadate, R., Uda, H., Hirano, H., Solis, J., Takanishi, A., Minagawa, E., ... Niki, K. (2009). Development of assisted-robotic system designed to measure the wave intensity with an ultrasonic diagnostic device. In 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 (pp. 510-515). [5354555] https://doi.org/10.1109/IROS.2009.5354555

    Development of assisted-robotic system designed to measure the wave intensity with an ultrasonic diagnostic device. / Nakadate, Ryu; Uda, Hisato; Hirano, Hiroaki; Solis, Jorge; Takanishi, Atsuo; Minagawa, Eiichi; Sugawara, Motoaki; Niki, Kiyomi.

    2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009. 2009. p. 510-515 5354555.

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

    Nakadate, R, Uda, H, Hirano, H, Solis, J, Takanishi, A, Minagawa, E, Sugawara, M & Niki, K 2009, Development of assisted-robotic system designed to measure the wave intensity with an ultrasonic diagnostic device. in 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009., 5354555, pp. 510-515, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, St. Louis, MO, 09/10/11. https://doi.org/10.1109/IROS.2009.5354555
    Nakadate R, Uda H, Hirano H, Solis J, Takanishi A, Minagawa E et al. Development of assisted-robotic system designed to measure the wave intensity with an ultrasonic diagnostic device. In 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009. 2009. p. 510-515. 5354555 https://doi.org/10.1109/IROS.2009.5354555
    Nakadate, Ryu ; Uda, Hisato ; Hirano, Hiroaki ; Solis, Jorge ; Takanishi, Atsuo ; Minagawa, Eiichi ; Sugawara, Motoaki ; Niki, Kiyomi. / Development of assisted-robotic system designed to measure the wave intensity with an ultrasonic diagnostic device. 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009. 2009. pp. 510-515
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