Development of a Robotic Carotid Blood Flow Measurement System - A Compact Ultrasonic Probe Manipulator Consisting of a Parallel Mechanism

Author

Sadamitsu, Yushi ; Fujita, Ai ; Arino, Chiaki ; Takanishi, Atsuo ; Harada, Akimitsu ; Sugawara, Motoaki ; Niki, Kiyomi

Author_Institution

Graduate Sch. of Sci. & Eng., Waseda Univ., Tokyo

fYear

2006

fDate

Dec. 2006

Firstpage

1

Lastpage

6

Abstract

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

Keywords

biomedical ultrasonics; blood flow measurement; force control; manipulators; medical robotics; position control; torque control; force sensor; linear parallel link mechanism; measurement system; medical robot; parallel mechanism; remote control; robot system; robotic carotid blood flow; torque sensor; ultrasonic diagnostic equipment; ultrasonic probe manipulator; virtual compliance control; wave intensity measurement; Blood flow; Fluid flow measurement; Force control; Force measurement; Manipulators; Parallel robots; Probes; Robot sensing systems; Torque control; Ultrasonic variables measurement; blood flow; medical robot; parallel mechanism; virtual compliance control; wave intensity;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics, Automation and Mechatronics, 2006 IEEE Conference on

Conference_Location

Bangkok

Print_ISBN

1-4244-0024-4

Electronic_ISBN

1-4244-0025-2

Type

conf

DOI

10.1109/RAMECH.2006.252674

Filename

4018790