Construction methodology for a remote ultrasound diagnostic system

Authors:
Norihiro Koizumi;Shin'ichi Warisawa;Mitsuru Nagoshi;Hiroyuki Hashizume;Mamoru Mitsuishi
Affiliations:
School of Engineering, University of Tokyo, Tokyo, Japan;School of Engineering, University of Tokyo, Tokyo, Japan;Nagoshi Orthopaedics, Okayama, Japan;Kasaoka Daiichi Hospital, Okayama, Japan;School of Engineering, University of Tokyo, Tokyo, Japan
Venue:
IEEE Transactions on Robotics - Special issue on rehabilitation robotics
Year:
2009

Citing 1
Cited 1

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Abstract

In the present paper, we describe a method for constructing a remote ultrasound diagnostic system. Remote diagnosis can be realized using a communication network. We have developed a master-slave type remote medical system to diagnose shoulder diseases, such as dialysis-related amyloid arthropathy (DRAA), by ultrasonographic images. Proper positioning" orientation, and contact force between the ultrasound probe and the affected area of the patient are required in order to acquire proper diagnostic images. Safety and manipulability are also required when operating the remote medical system through a communication network. Therefore, the system has impedance control cnpability for positioning of the master and slave manipulators in order to convey the contact force and enhance manipulability. In addition, the system has continuous-path control capability for the orientation of the slave manipulator in order to realize smooth and accurate motion of the ultrasound probe, even if the sampling rate of the transmission of the orientation data of the master manipulator is not sufficient. The results of remote diagnostic experiments demonstrated that a healthcare professional could diagnose real patients through a communication network using the constructed system.