Abstract
Among various medical problems facing us in today's Japan are rapidly aging society, localization of medical doctors, concentrated visits of patients to large hospitals, etc. Development of diagnostic support systems is considered a current pressing solution to help reduce loads on medical doctors. On the other hand, actual diagnosis is used various patient positions such as supine posture and lying posture. So, in this paper, we purpose the development of the ultrasound diagnosis support robot system to be able to diagnose by various patient position. It is needed to workings high accuracy, high-speed and workings by extending to the large range to some degree. We have designed 10 DOF (degrees of freedom) redundant manipulators for ultrasound diagnostic and treatment support. Also we assumed material of robot is used Aluminum or Carbon Fiber Reinforced Plastics Matrix-composite, and we compared robot used CFRP with robot used Aluminum in total weight and max stress. Then, the adjustable link system that is used fuzzy inference has been constructed and its availability has been verified. And the model of 5-DOF manipulator has been simulated with the system. Then, pneumatic cylinder and electrical actuator control experiment has been conducted to verify the effectiveness of the system.
