Intention estimation based on biosignal and operating force for cooperative operation by ultrasound diagnosis and treatment support robot

Abstract

One of the medical issues of our country is increasing of the burden of doctors per capita by aging society and localization of the doctor. Development of diagnostic and treatment support systems is considered a solution to a pressing problem to help reduce loads on medical doctors. So, we have constructed echography diagnosis support system based on cooperative operation between examiner and robots. Scanning approach is same, but how to use probe may be difference by every operator. This system is possible to operate in the direction intended by operator using force control. However, it was difficult to judge operator's intention from force sensor. In this paper, we estimated the inspector's intention during probe scanning from force sensor output and biological signal.