HIPPOCRATE: an intrinsically safe robot for medical applications

Author

Dégoulange, E. ; Urbain, L. ; Caron, P. ; Boudet, S. ; Gariepy, J. ; Mégnien, J. -L ; Pierrot, F. ; Dombre, E.

Author_Institution

SINTERS SA, Toulouse, France

Volume

2

fYear

1998

fDate

13-17 Oct 1998

Firstpage

959

Abstract

We have developed a robotic system to assist doctors when they are moving ultrasonic probes on the patient´s skin while exerting a given effort. The probes are used to monitor arteries for cardiovascular disease prevention, namely to reconstruct the 3D profile of arteries. A preliminary feasibility study making use of an industrial robot has been made to validate the force control scheme. It has proven the interest of the robotized approach for such a medical application. In order to comply with safety constraints, a dedicated robotic system HIPPOCRATE has been designed. The paper describes the arm and the controller architectures, with emphasis on design strategies selected to meet safety requirements

Keywords

force control; graphical user interfaces; manipulators; medical robotics; probes; safety; 3D profile; HIPPOCRATE; cardiovascular disease prevention; controller architectures; design strategies; intrinsically safe robot; safety requirements; ultrasonic probes; Arteries; Biomedical equipment; Biomedical monitoring; Medical robotics; Medical services; Patient monitoring; Probes; Safety; Service robots; Skin;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on

Conference_Location

Victoria, BC

Print_ISBN

0-7803-4465-0

Type

conf

DOI

10.1109/IROS.1998.727423

Filename

727423