Abstract
We developed a parallel wire drive system as a control device for tele-echography. We designed the construction of the handle, which a medical doctor operates, and the location of six actuators connected to the handle via cables by introducing the Force Closure theory. The actuator adjusts cable tension by calculating the length of the cable. Using the six parallel wires, a doctor can send a 5-dimensional position command by controlling the handle in the same way as commonly done during ultrasound diagnosis, translation, rotation to a medical robot and feeling the contact force on the body surface of a remote patient abdomen. It's also possible to use the device for echography training.
