超音波診断・治療補助ロボットReDATによる力制御のための検査者意図推定

抄録

Echography is inexpensive and indispensable equipment in every medical field but examination with echography greatly need the expertise and experience of an operator. So, person who is not skill in echography not easy inspect. We estimated the mental rotation matrix by focusing on the echogram change and probe movement. In echography, mental rotation ability was defined as the probe displacement to follow the organ moved by body motion and breathing. As the result of evaluation experiments, we can seize the invisible Ultrasound Probe Skilled Procedure. On the hand, we have developed the ReDAT (Robotic-echography for Diagnostic and Treatment support system) to be able to diagnose by cooperative operation. In this paper, we have constructed transformation matrix convert to a force sensor value to the intention of the operator. So, we have confirmed the possibility for an assistant system in echography by robot system.