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

研究成果: Conference contribution

11 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2006 IEEE Conference on Robotics, Automation and Mechatronics
DOI
出版ステータスPublished - 2006 12 1
イベント2006 IEEE Conference on Robotics, Automation and Mechatronics - Bangkok, Thailand
継続期間: 2006 6 72006 6 9

出版物シリーズ

名前2006 IEEE Conference on Robotics, Automation and Mechatronics

Conference

Conference2006 IEEE Conference on Robotics, Automation and Mechatronics
CountryThailand
CityBangkok
Period06/6/706/6/9

ASJC Scopus subject areas

  • Computer Science(all)
  • Control and Systems Engineering

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