Abstract
In this paper, we propose a control method to skim the ultrasound probe based on viscoelasticity of body surface for robotic echography. We have ever experimented and confirmed to be able to obtain echogram of patient. A physician obtained echogram of the heart with sensing contact force of ultrasound probe on body surface. However, the probe is not controlled as the physician's desire on abdomen because the viscosity of soft tissue cannot be ignored. Thus, we have noticed the necessity to investigate character of body surface before attempt to obtain echogram. We propose a method to measure viscoelasticity of the tissue by approaching the probe to the body surface two times. Finally, we conduct the tracing operation experiment by reflecting the presumed parameter in the robot control.
