Development of assisted-robotic system designed to measure the wave intensity with an ultrasonic diagnostic device

Authors:
Ryu Nakadate;Hisato Uda;Hiroaki Hirano;Jorge Solis;Atsuo Takanishi;Eiichi Minagawa;Motoaki Sugawara;Kiyomi Niki
Affiliations:
Graduate School of Advanced Science and Engineering, Waseda University;Graduate School of Advanced Science and Engineering, Waseda University;Graduate School of Advanced Science and Engineering, Waseda University;Faculty of Science and Engineering and Humanoid Robotics Institute, Waseda University;Faculty of Science and Engineering and Humanoid Robotics Institute, Waseda University;ALOKA Co. Ltd., Japan;Department of Medical Engineering, Himeji Dokkyo University, Japan;Biomedical Engineering Department, Musashi Institute of Technology, Japan
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

Citing 3
Cited 0

Adaptation in Natural and Artificial Systems: An Introductory Analysis with Applications to Biology, Control and Artificial Intelligence

Adaptation in Natural and Artificial Systems: An Introductory Analysis with Applications to Biology, Control and Artificial Intelligence
Construction methodology for a remote ultrasound diagnostic system

IEEE Transactions on Robotics - Special issue on rehabilitation robotics
A tele-operated mobile ultrasound scanner using a light-weight robot

IEEE Transactions on Information Technology in Biomedicine

Quantified Score

Hi-index	0.00

Visualization

Abstract

In recent years, due to the increasing rate of elderly people in Japan, the needs to detect adults' diseases at the early stage becomes a high priority. In particular, an increased interest in detecting heart and cerebrovascular diseases at an early stage may allow clinicians to begin treatment sooner, when interventions are generally more effective and less expensive. Recently, the Wave Intensity (WI) has been proposed as a new hemodynamic index that provides information about the dynamic behavior of the heart and the vascular system and their interaction. However; the repetitiveness and accuracy of the WI measurement depend on the precision of the positioning of the ultrasound probe. Therefore a positioning device for ultrasound probe is required. Such a device should not only be used to keep the position but also for the fine positioning of the probe. For this purpose, at Waseda University, we have proposed the development of a robot system to assist a carotid blood flow measurement using ultrasound diagnostic equipments. In this paper, the development of Waseda-Tokyo Women's Medical-Aloka Blood Flow Measurement System No. 1 Refined II (WTA-1RII) is detailed. The system consists of an ultrasound diagnostic device, a 6-DOFs parallel link manipulator, a serial link passive arm, ball joint, and a joystick type controller. The WTA-1RII has improved the design of the gravity compensation mechanism. In addition, a genetic algorithm has by implemented to determine the optimal link's position of the 6-DOFs parallel manipulator to increase the workspace. Finally, a set of experiments were carried out to determine the usability of the proposed system.