Abstract
We have developed a control system using our ultrasound diagnosis robot, which is able to support physician's manual handling of ultrasound probe. This system realizes passive coordinated motion according to the motion of the probe, which is hold by the robot and is moved by the physician, by introducing compliance control method. Then the robot compensates the probe motion servilely as the physician's desire by detecting the 3D forces and 3D torques. We have examined the system with a help of a clinical specialist and evaluated performance of the robot through various kinds of parameters. As the results, coordination motion of the robot was realized to assist advanced diagnosis for echography.
