DocumentCode :
2096563
Title :
Three dimensional motion mechanism of ultrasound probe and its application for tele-echography system
Author :
Masuda, Kohji ; Kimura, Eizen ; Tateishi, Norihiko ; Ishihara, Ken
Author_Institution :
Dept. of Med. Informatics, Ehime Univ., Japan
Volume :
2
fYear :
2001
fDate :
2001
Firstpage :
1112
Abstract :
We have developed a three dimensional movable robot for an ultrasound probe for tele-echography system to apply between hospital, clinic and home. The probe movable mechanism is carefully designed not to damage the human body since miniature force sensors detect not only total contact force to the body surface but also angle of the probe to the surface. Angle and position of probe are controlled not to exceed dangerous contact force. We tried to control it via LAN and 128K ISDN by using a two-axis joystick under the Object Request Broker technique. We found that real time control was possible with an image stream. Though the delay time of the image makes the examiner stressful, we confirmed that remote diagnosis of the human abdomen is useful
Keywords :
ISDN; biomedical ultrasonics; distributed object management; force sensors; local area networks; medical robotics; microsensors; position control; probes; telemedicine; telerobotics; ISDN; Integrated Services Digital Network; LAN; ORB technique; Object Request Broker technique; angle control; delay time; human abdomen; image stream; miniature force sensors; position control; real time controlling; remote diagnosis; tele-echography system; telemedicine; three dimensional motion mechanism; three dimensional movable robot; total contact force; two-axis joystick; ultrasound probe; Force control; Force sensors; Hospitals; Humans; ISDN; Local area networks; Probes; Robot sensing systems; Streaming media; Ultrasonic imaging;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on
Conference_Location :
Maui, HI
Print_ISBN :
0-7803-6612-3
Type :
conf
DOI :
10.1109/IROS.2001.976317
Filename :
976317
Link To Document :
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