Abstract
Microbubbles are expected as earners of acoustic targeted drug/gene delivery therapy. To realize the therapeutic system, we have proposed a technique that controls microbubble behavior in blood vessels using ultrasound emitted from the body surface. To apply this technique in vivo, robotic ultrasound transducer positioning on body surface is required. For this purpose, we have developed a robotic system to determine contact between the body surface and transducer, but adhesion of the surface of the transducer was not guaranteed. To address this issue, we propose a control system considering surface contact using reaction force and moment. We performed evaluation experiment of this system including self-weight moment compensation. As the result, we confirmed surface contact on body surface and the transducer.
