Robotic 3D position control of therapeutic ultrasonic field by ultrasound image information

Irisawa, Sachie; Onogi, Shinya; Masuda, Kohji

doi:10.1109/bmeicon.2012.6465459

Cited by 5 publications

(1 citation statement)

References 11 publications

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“…For this purpose, we have developed the robotic system to determine position of an ultrasound transducer, which was grasped by the robot [7,8], and to keep physical contact condition with a body surface [9,10]. However, in the preceding researches, simple 978-1-4673-9158-0/15/$31.00 ©lOIS IEEE point contact between the therapeutic device and the body surface was considered, whereas the entire area of ultrasound elements in the tip of the transducer has to contact on the body surface.…”

Section: Introductionmentioning

confidence: 99%

Robotic control of therapeutic device on body surface considering contact force and moment

Natsume

Onogi

Mochizuki

et al. 2015

2015 8th Biomedical Engineering International Conference (BMEiCON)

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For ultrasound therapy, e.g. microbubbles delivery, physical contact between therapeutic device and body surface is important. To guarantee the entire contact of the device, we propose a control method considering contact force and reaction moment using a robotic system and sensors. We used a parallel link robot, which has three links and the holder to determine position and angle of the device. First we eliminated self-weight moment of the device using the sensors. Next we established a series of surface contact controls, which consists of (a) initial contact control, (b) balance contact control, and (c) angle restoration control. Then we performed evaluation experiments using soft material and human body. Contacted area was visualized and evaluated with color ink. Convergence time to the desired position and angle was also evaluated while monitoring contact force and moment. We concluded that the determination of appropriate parameters is important and dominant for the quality of the system.

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Section: Introductionmentioning

confidence: 99%