妊婦超音波検査支援ロボットの開発

―プローブ走査機構の受動的な位置調整が可能なハイブリッド型高重量補償アームの提案―

抄録

Recently, burdens of both doctors and pregnant women has been increased due to the decrease of obstetricians. In order to solve those problems, we aimed to develop the prenatal care robot for supporting ultrasound diagnosis. Although we developed the ultrasound prove control unit in the previous study, there are some problems about the support way of the unit in terms of the safety and operability. In this paper, we reported that the dead-weight compensation arm for positioning the prove control unit passively. By combing both counter weight and spring, we realize the dead-weight compensation with operability in clinical situation.