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

    9 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
    Event2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010 - Tokyo
    Duration: 2010 Sep 262010 Sep 29

    Other

    Other2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010
    CityTokyo
    Period10/9/2610/9/29

    Fingerprint

    Ultrasonics
    Robots
    Fatigue of materials
    End effectors
    Imaging techniques
    Sensors
    Experiments

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Biomedical Engineering

    Cite this

    Nakadate, R., Tokunaga, Y., Solis, J., Takanishi, A., Minagawa, E., Sugawara, M., ... 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] https://doi.org/10.1109/BIOROB.2010.5627716

    Development of robot assisted measurement system for abdominal ultrasound diagnosis. / Nakadate, Ryu; Tokunaga, Yasuaki; Solis, Jorge; Takanishi, Atsuo; Minagawa, Eiichi; Sugawara, Motoaki; Niki, Kiyomi; Saito, Akiko.

    2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010. 2010. p. 367-372 5627716.

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

    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., 5627716, pp. 367-372, 2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010, Tokyo, 10/9/26. https://doi.org/10.1109/BIOROB.2010.5627716
    Nakadate R, Tokunaga Y, Solis J, Takanishi A, Minagawa E, Sugawara M et al. 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. 2010. p. 367-372. 5627716 https://doi.org/10.1109/BIOROB.2010.5627716
    Nakadate, Ryu ; Tokunaga, Yasuaki ; Solis, Jorge ; Takanishi, Atsuo ; Minagawa, Eiichi ; Sugawara, Motoaki ; Niki, Kiyomi ; Saito, Akiko. / Development of robot assisted measurement system for abdominal ultrasound diagnosis. 2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010. 2010. pp. 367-372
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