Development of robot assisted measurement system for abdominal ultrasound diagnosis

Ryu Nakadate, Yasuaki Tokunaga, Jorge Solis, Atsuo Takanishi, Eiichi Minagawa, Motoaki Sugawara, Kiyomi Niki, Akiko Saito

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

10 Citations (Scopus)

Abstract

In the medical literature, the ultrasound diagnosis is a quite well user-friendly method due to its non-invasiveness, portability and real-time imaging capabilities. Recently, some fatigue issues (including musculoskeletal injuries) with sonographers have been reported. Most of those issues are mainly due to the physical stress on the sonographers during their considerably long time task. During the diagnosis, the sonographers usually hold their wrist without touching the patients. Moreover, they are sometimes required to apply a force for the probe to push abdomen of the patients in order to obtain clearer ultrasound image. Therefore, our research aims in developing a probe supporting robot to reduce the fatigue of sonographers during the abdominal diagnosis. In this paper, we describe the design of the Waseda-Tokyo Women's Medical-Aloka System No. 2 (WTA-2) which is composed of an ultrasound diagnosis system, an actuated 3-DOFs robot arm with two different interchangeable end-effectors. One is for power assist of applied force, and the other is for supporting sonographer's wrist. The design of the robot, a force sensing method using photo sensors and the control of the robot are detailed. A set of experiments were carried out in order to verify the effectiveness of the proposed system to support sonographers while performing the diagnosis.

Original languageEnglish
Title of host publication2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010
Pages367-372
Number of pages6
DOIs
Publication statusPublished - 2010 Dec 27
Event2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010 - Tokyo, Japan
Duration: 2010 Sep 262010 Sep 29

Publication series

Name2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010

Conference

Conference2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010
CountryJapan
CityTokyo
Period10/9/2610/9/29

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ASJC Scopus subject areas

  • Artificial Intelligence
  • Biomedical Engineering

Cite this

Nakadate, R., Tokunaga, Y., Solis, J., Takanishi, A., Minagawa, E., Sugawara, M., Niki, K., & Saito, A. (2010). Development of robot assisted measurement system for abdominal ultrasound diagnosis. In 2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010 (pp. 367-372). [5627716] (2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010). https://doi.org/10.1109/BIOROB.2010.5627716