TY - JOUR
T1 - Development of a robot assisted carotid blood flow measurement system
AU - Nakadate, Ryu
AU - Matsunaga, Yoshiki
AU - Solis, Jorge
AU - Takanishi, Atsuo
AU - Minagawa, Eiichi
AU - Sugawara, Motoaki
AU - Niki, Kiyomi
N1 - Funding Information:
This study has been conducted as a part of the humanoid project at the Humanoid Robotics Institute, Waseda University. Also this study was supported in part by Global COE Program “Global Robot Academia” from the Ministry of Education, Culture, Sports, Science and Technology of Japan . It was also supported by Solid Works Japan K.K. and ST Microelectronics whom we thank for their technical support.
PY - 2011/8
Y1 - 2011/8
N2 - The ultrasound diagnosis of the carotid artery is one of the most common non-invasive methods to detect early stage heart and cerebrovascular diseases. However, the precision and repetitiveness of the probe positioning depend exclusively on the operator's skills and dexterity. For this purpose, we propose the development of a robot assisted system to enhance the accuracy and repetitiveness of the probe positioning to measure the wave intensity (WI) index. In this paper, the Waseda-Tokyo Women's Medical-Aloka Blood Flow Measurement Robot System No. 2 Refined (WTA-2R) is presented. The WTA-2R consists of a conventional ultrasound diagnosis system, a 6-DOFs parallel link slave manipulator, a 6-DOFs serial link passive arm, and a master device. Experiments were carried out to verify its effectiveness in terms of accuracy and required time to perform the task. From the experimental results, the positioning accuracy and reduction of required time were confirmed.
AB - The ultrasound diagnosis of the carotid artery is one of the most common non-invasive methods to detect early stage heart and cerebrovascular diseases. However, the precision and repetitiveness of the probe positioning depend exclusively on the operator's skills and dexterity. For this purpose, we propose the development of a robot assisted system to enhance the accuracy and repetitiveness of the probe positioning to measure the wave intensity (WI) index. In this paper, the Waseda-Tokyo Women's Medical-Aloka Blood Flow Measurement Robot System No. 2 Refined (WTA-2R) is presented. The WTA-2R consists of a conventional ultrasound diagnosis system, a 6-DOFs parallel link slave manipulator, a 6-DOFs serial link passive arm, and a master device. Experiments were carried out to verify its effectiveness in terms of accuracy and required time to perform the task. From the experimental results, the positioning accuracy and reduction of required time were confirmed.
KW - Genetic Algorithm
KW - Medical robotics
KW - Parallel mechanism
KW - Wave intensity index
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U2 - 10.1016/j.mechmachtheory.2011.03.008
DO - 10.1016/j.mechmachtheory.2011.03.008
M3 - Article
AN - SCOPUS:79958259832
SN - 0374-1052
VL - 46
SP - 1066
EP - 1083
JO - Mechanism and Machine Theory
JF - Mechanism and Machine Theory
IS - 8
ER -