Abstract
A master-slave type remote ultrasound diagnostic system was developed. This paper presents its control strategy. The controller has an impedance control capability for the master and slave manipulators’ positions. It also has a continuous path(CP) control capability for the slave manipulator’s orientation. The impedance control allows the master and slave manipulators to move according to the motion control law autonomously, and allows the medical doctor to feel reaction force. Manipulability varies according to the impedance parameters. This paper makes clear the relationship among the virtual viscosity, the manipulability and the response speed. The paper proposes a method to adjust the virtual viscosity according to diagnostic tasks. The proposed impedance control strategy applied for the remote ultrasound diagnostic system was evaluated in the experiment while virtual viscosity was changed. At the first step, a slider-type linear virtual viscosity input device was developed and it became clear that the medical doctor varies the virtual viscosity value by 3 levels according to diagnosis processes. Therefore, a 3-level virtual viscosity switching system was implemented. Remote ultrasound diagnostic experiment demonstrated that the medical doctor can perform diagnosis successfully using the proposed system.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
M. Mitsuishi, S. Warisawa, T. Tsuda, T. Higuchi, N. Koizumi, H. Hashizume and K. Fujiwara,“Remote Ultrasound Diagnostic System,” Proc. of 2001 Int. Conf. Robotics and Automation, Vol. 2, pp. 1567–1573, 2001.
M. Mitsuishi, T. Tsuda, Takuya Higuchi, N. Koizumi, H. Hashizume and K. Fujiwara,“Development of a Remote Ultrasound Diagnostic System,” Proc. of the 18th Annual Conf. of the Robotics Society of Japan, Vol. 1, pp. 435–436, 2000(in Japanese).
T. Tuji, M. Hatagi, H. Akamatsu and M. Kaneko,“Non-Contact Impedance Control for Manipulators,” Advanced Robotics, Vol. 15, No. 4, pp. 136–143, 1997.
S. Tachi and T. Sasaki,“Impedance Controlled Master-slave Manipulation System. Part I. Basic Concept and Application to the System with a Time Delay, Advanced Robotics,” Advanced Robotics, Vol. 6, No. 4, pp. 483–503, 1992.
W.-H. Zhu, S.E. Salcudean, S. Bachman, and P. Abolmaesumi,“Motion/Force/Image Control of A Diagnostic Ultrasound Robot,” Proc. of 2000 Int. Conf. Robotics and Automation, pp. 1580–1585, 2000.
P. Abolmaesumi, S.E. Salcudean, W.-H. Zhu, S.P. DiMaio and M.R. Sirouspour, “A User Interface for Robot-Assisted Diagnostic Ultrasound,” Proc. of 2001 Int. Conf. Robotics and Automation, Vol. 2, pp. 1549–1554, 2001.
K. Masuda, K. Ishihara,“Development of a robot for ultrasound diagnosis and its clinical applications by considering safety contact on body surface,” Proc. of the 18th Annual Conf. of the Robotics Society of Japan, Vol. 1, pp. 439–440, 2000(in Japanese).
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2003 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Koizumi, N., Kato, T., Warisawa, S., Hashizume, H., Mitsuishi, M. (2003). Manipulability Enhancement by an Impedance Parameter Tuning for a Remote Ultrasound Diagnostic System. In: Siciliano, B., Dario, P. (eds) Experimental Robotics VIII. Springer Tracts in Advanced Robotics, vol 5. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-36268-1_48
Download citation
DOI: https://doi.org/10.1007/3-540-36268-1_48
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-00305-2
Online ISBN: 978-3-540-36268-5
eBook Packages: Springer Book Archive