抄録
We have developed the probe scan mechanism for Echography using pneumatic actuators. First we established a driving system of the actuator by driving an electro-pneumatic control valve. Then we constructed the mechanism to be put on patient abdomen by arranging six actuators around the probe to realize five degrees of freedom including the press motion of the probe. Total weight of the mechanism could be set less than 650g. Next we established feedback control method of both of position and pressure in the probe. Then we have realized multidirectional probe scan to acquire three-dimensional images with maximum error of 20% in the actual position.
